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static bool eigen_did_assert = false;
#define eigen_assert(X) if(!eigen_did_assert && !(X)){ std::cout << "### Assertion raised in " << __FILE__ << ":" << __LINE__ << ":\n" #X << "\n### The following would happen without assertions:\n"; eigen_did_assert = true;}
#include <Eigen/Eigen>
#ifndef M_PI
#define M_PI 3.1415926535897932384626433832795
#endif