diff --git a/gtsam/3rdparty/Eigen/CMakeLists.txt b/gtsam/3rdparty/Eigen/CMakeLists.txt
index db571727e..c66a14e0e 100644
--- a/gtsam/3rdparty/Eigen/CMakeLists.txt
+++ b/gtsam/3rdparty/Eigen/CMakeLists.txt
@@ -279,9 +279,15 @@ install(FILES
   )
 
 if(EIGEN_BUILD_PKGCONFIG)
+    SET(path_separator ":")
+    STRING(REPLACE ${path_separator} ";" pkg_config_libdir_search "$ENV{PKG_CONFIG_LIBDIR}")
+    message(STATUS "searching for 'pkgconfig' directory in PKG_CONFIG_LIBDIR ( $ENV{PKG_CONFIG_LIBDIR} ), ${CMAKE_INSTALL_PREFIX}/share, and ${CMAKE_INSTALL_PREFIX}/lib")
+    FIND_PATH(pkg_config_libdir pkgconfig ${pkg_config_libdir_search} ${CMAKE_INSTALL_PREFIX}/share ${CMAKE_INSTALL_PREFIX}/lib ${pkg_config_libdir_search})
+    message(STATUS "found ${pkg_config_libdir}/pkgconfig" )
+
     configure_file(eigen3.pc.in eigen3.pc)
     install(FILES ${CMAKE_CURRENT_BINARY_DIR}/eigen3.pc
-        DESTINATION share/pkgconfig
+        DESTINATION ${pkg_config_libdir}/pkgconfig
         )
 endif(EIGEN_BUILD_PKGCONFIG)
 
@@ -321,9 +327,9 @@ endif()
 configure_file(${CMAKE_BINARY_DIR}/DartConfiguration.tcl ${CMAKE_BINARY_DIR}/DartConfiguration.tcl)
 # restore default CMAKE_MAKE_PROGRAM
 set(CMAKE_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM_SAVE})
-# un-set temporary variables so that it is like they never existed. 
+# un-set temporary variables so that it is like they never existed.
 # CMake 2.6.3 introduces the more logical unset() syntax for this.
-set(CMAKE_MAKE_PROGRAM_SAVE) 
+set(CMAKE_MAKE_PROGRAM_SAVE)
 set(EIGEN_MAKECOMMAND_PLACEHOLDER)
 
 configure_file(${CMAKE_SOURCE_DIR}/CTestCustom.cmake.in ${CMAKE_BINARY_DIR}/CTestCustom.cmake)
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h
index 5e2352caa..f47b2ea56 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h
@@ -158,10 +158,19 @@ template<typename _MatrixType, int _UpLo> class LDLT
     }
 
     /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * This function also supports in-place solves using the syntax <tt>x = decompositionObject.solve(x)</tt> .
       *
       * \note_about_checking_solutions
       *
-      * \sa solveInPlace(), MatrixBase::ldlt()
+      * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$
+      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$, 
+      * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then
+      * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the
+      * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function
+      * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular.
+      *
+      * \sa MatrixBase::ldlt()
       */
     template<typename Rhs>
     inline const internal::solve_retval<LDLT, Rhs>
@@ -376,7 +385,21 @@ struct solve_retval<LDLT<_MatrixType,_UpLo>, Rhs>
     dec().matrixL().solveInPlace(dst);
 
     // dst = D^-1 (L^-1 P b)
-    dst = dec().vectorD().asDiagonal().inverse() * dst;
+    // more precisely, use pseudo-inverse of D (see bug 241)
+    using std::abs;
+    using std::max;
+    typedef typename LDLTType::MatrixType MatrixType;
+    typedef typename LDLTType::Scalar Scalar;
+    typedef typename LDLTType::RealScalar RealScalar;
+    const Diagonal<const MatrixType> vectorD = dec().vectorD();
+    RealScalar tolerance = (max)(vectorD.array().abs().maxCoeff() * NumTraits<Scalar>::epsilon(),
+				 RealScalar(1) / NumTraits<RealScalar>::highest()); // motivated by LAPACK's xGELSS
+    for (Index i = 0; i < vectorD.size(); ++i) {
+      if(abs(vectorD(i)) > tolerance)
+	dst.row(i) /= vectorD(i);
+      else
+	dst.row(i).setZero();
+    }
 
     // dst = L^-T (D^-1 L^-1 P b)
     dec().matrixU().solveInPlace(dst);
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h
index 1926d6ab4..d266eed0a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h
@@ -94,7 +94,7 @@ struct isMuchSmallerThan_scalar_selector<Derived, true>
   *
   * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
   * are considered to be approximately equal within precision \f$ p \f$ if
-  * \f[ \Vert v - w \Vert \leqslant p\,\(min)(\Vert v\Vert, \Vert w\Vert). \f]
+  * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
   * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm
   * L2 norm).
   *
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h
index 81e3979f3..dd0673609 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h
@@ -34,7 +34,7 @@
   * \tparam PlainObjectType the equivalent matrix type of the mapped data
   * \tparam MapOptions specifies whether the pointer is \c #Aligned, or \c #Unaligned.
   *                The default is \c #Unaligned.
-  * \tparam StrideType optionnally specifies strides. By default, Map assumes the memory layout
+  * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout
   *                   of an ordinary, contiguous array. This can be overridden by specifying strides.
   *                   The type passed here must be a specialization of the Stride template, see examples below.
   *
@@ -72,9 +72,9 @@
   * Example: \include Map_placement_new.cpp
   * Output: \verbinclude Map_placement_new.out
   *
-  * This class is the return type of Matrix::Map() but can also be used directly.
+  * This class is the return type of PlainObjectBase::Map() but can also be used directly.
   *
-  * \sa Matrix::Map(), \ref TopicStorageOrders
+  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
   */
 
 namespace internal {
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h
index db156f6e9..62877bce0 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h
@@ -250,7 +250,8 @@ template<typename Derived> class MatrixBase
     
     // huuuge hack. make Eigen2's matrix.part<Diagonal>() work in eigen3. Problem: Diagonal is now a class template instead
     // of an integer constant. Solution: overload the part() method template wrt template parameters list.
-    template<template<typename T, int n> class U>
+    // Note: replacing next line by "template<template<typename T, int n> class U>" produces a mysterious error C2082 in MSVC.
+    template<template<typename, int> class U>
     const DiagonalWrapper<ConstDiagonalReturnType> part() const
     { return diagonal().asDiagonal(); }
     #endif // EIGEN2_SUPPORT
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h
index ed34b0ed9..c70db9247 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h
@@ -425,9 +425,6 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
       * \a data pointers.
       *
-      * These methods do not allow to specify strides. If you need to specify strides, you have to
-      * use the Map class directly.
-      *
       * \see class Map
       */
     //@{
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h
index 3bd3487d6..233ed6467 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h
@@ -256,16 +256,16 @@ class ScaledProduct
     : Base(prod.lhs(),prod.rhs()), m_prod(prod), m_alpha(x) {}
 
     template<typename Dest>
-    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst,m_alpha); }
+    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst, Scalar(1)); }
 
     template<typename Dest>
-    inline void addTo(Dest& dst) const { scaleAndAddTo(dst,m_alpha); }
+    inline void addTo(Dest& dst) const { scaleAndAddTo(dst, Scalar(1)); }
 
     template<typename Dest>
-    inline void subTo(Dest& dst) const { scaleAndAddTo(dst,-m_alpha); }
+    inline void subTo(Dest& dst) const { scaleAndAddTo(dst, Scalar(-1)); }
 
     template<typename Dest>
-    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { m_prod.derived().scaleAndAddTo(dst,alpha); }
+    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { m_prod.derived().scaleAndAddTo(dst,alpha * m_alpha); }
 
     const Scalar& alpha() const { return m_alpha; }
     
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h
index 71e129c7f..a23014a34 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h
@@ -180,7 +180,7 @@ void TriangularView<MatrixType,Mode>::solveInPlace(const MatrixBase<OtherDerived
   eigen_assert(cols() == rows());
   eigen_assert( (Side==OnTheLeft && cols() == other.rows()) || (Side==OnTheRight && cols() == other.cols()) );
   eigen_assert(!(Mode & ZeroDiag));
-  eigen_assert(Mode & (Upper|Lower));
+  eigen_assert((Mode & (Upper|Lower)) != 0);
 
   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit  && OtherDerived::IsVectorAtCompileTime };
   typedef typename internal::conditional<copy,
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
index 6c3f1e421..2a647cfda 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
@@ -28,7 +28,7 @@
 
 #define EIGEN_WORLD_VERSION 3
 #define EIGEN_MAJOR_VERSION 0
-#define EIGEN_MINOR_VERSION 2
+#define EIGEN_MINOR_VERSION 3
 
 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
                                       (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
index 6ad846d35..78df29d40 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
@@ -51,19 +51,19 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
 
   /** Constructs a null box with \a _dim the dimension of the ambient space. */
-  inline explicit AlignedBox(int _dim) : m_(min)(_dim), m_(max)(_dim)
+  inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
   { setNull(); }
 
   /** Constructs a box with extremities \a _min and \a _max. */
-  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_(min)(_min), m_(max)(_max) {}
+  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
 
   /** Constructs a box containing a single point \a p. */
-  inline explicit AlignedBox(const VectorType& p) : m_(min)(p), m_(max)(p) {}
+  inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
 
   ~AlignedBox() {}
 
   /** \returns the dimension in which the box holds */
-  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
+  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : int(AmbientDimAtCompileTime); }
 
   /** \returns true if the box is null, i.e, empty. */
   inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
@@ -71,8 +71,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   /** Makes \c *this a null/empty box. */
   inline void setNull()
   {
-    m_min.setConstant( std::numeric_limits<Scalar>::(max)());
-    m_max.setConstant(-std::numeric_limits<Scalar>::(max)());
+    m_min.setConstant( (std::numeric_limits<Scalar>::max)());
+    m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
   }
 
   /** \returns the minimal corner */
@@ -90,19 +90,19 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
 
   /** \returns true if the box \a b is entirely inside the box \c *this. */
   inline bool contains(const AlignedBox& b) const
-  { return (m_min.cwise()<=b.(min)()).all() && (b.(max)().cwise()<=m_max).all(); }
+  { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
 
   /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
   inline AlignedBox& extend(const VectorType& p)
-  { m_min = m_min.cwise().(min)(p); m_max = m_max.cwise().(max)(p); return *this; }
+  { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
 
   /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
   inline AlignedBox& extend(const AlignedBox& b)
-  { m_min = m_min.cwise().(min)(b.m_min); m_max = m_max.cwise().(max)(b.m_max); return *this; }
+  { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
 
   /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
   inline AlignedBox& clamp(const AlignedBox& b)
-  { m_min = m_min.cwise().(max)(b.m_min); m_max = m_max.cwise().(min)(b.m_max); return *this; }
+  { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
 
   /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
   inline AlignedBox& translate(const VectorType& t)
@@ -138,8 +138,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   template<typename OtherScalarType>
   inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
   {
-    m_min = other.(min)().template cast<Scalar>();
-    m_max = other.(max)().template cast<Scalar>();
+    m_min = (other.min)().template cast<Scalar>();
+    m_max = (other.max)().template cast<Scalar>();
   }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h
index 5f6139998..c2326d752 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h
@@ -590,6 +590,9 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
   // only worsening the precision of U and V as we accumulate more rotations
   const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
 
+  // limit for very small denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
+  const RealScalar considerAsZero = RealScalar(2) * std::numeric_limits<RealScalar>::denorm_min();
+
   /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
 
   if(!internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows>::run(*this, matrix)
@@ -617,10 +620,11 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
       {
         // if this 2x2 sub-matrix is not diagonal already...
         // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
-        // keep us iterating forever.
+        // keep us iterating forever. Similarly, small denormal numbers are considered zero.
         using std::max;
-        if((max)(internal::abs(m_workMatrix.coeff(p,q)),internal::abs(m_workMatrix.coeff(q,p)))
-            > (max)(internal::abs(m_workMatrix.coeff(p,p)),internal::abs(m_workMatrix.coeff(q,q)))*precision)
+        RealScalar threshold = (max)(considerAsZero, precision * (max)(internal::abs(m_workMatrix.coeff(p,p)),
+                                                                       internal::abs(m_workMatrix.coeff(q,q))));
+        if((max)(internal::abs(m_workMatrix.coeff(p,q)),internal::abs(m_workMatrix.coeff(q,p))) > threshold)
         {
           finished = false;
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Sparse/TriangularSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Sparse/TriangularSolver.h
index 73468e044..62bb8bb44 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Sparse/TriangularSolver.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Sparse/TriangularSolver.h
@@ -171,7 +171,7 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDer
   eigen_assert(m_matrix.cols() == m_matrix.rows());
   eigen_assert(m_matrix.cols() == other.rows());
   eigen_assert(!(Mode & ZeroDiag));
-  eigen_assert(Mode & (Upper|Lower));
+  eigen_assert((Mode & (Upper|Lower)) != 0);
 
   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
 
@@ -298,7 +298,7 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<Ot
   eigen_assert(m_matrix.cols() == m_matrix.rows());
   eigen_assert(m_matrix.cols() == other.rows());
   eigen_assert(!(Mode & ZeroDiag));
-  eigen_assert(Mode & (Upper|Lower));
+  eigen_assert((Mode & (Upper|Lower)) != 0);
 
 //   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
 
diff --git a/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox b/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox
index aea0b6642..452abda10 100644
--- a/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox
+++ b/gtsam/3rdparty/Eigen/doc/C08_TutorialGeometry.dox
@@ -147,7 +147,7 @@ OpenGL compatibility \b 3D </td><td>\code
 glLoadMatrixf(t.data());\endcode</td></tr>
 <tr class="alt"><td>
 OpenGL compatibility \b 2D </td><td>\code
-Affine3f aux(Affine3f::Identity);
+Affine3f aux(Affine3f::Identity());
 aux.linear().topLeftCorner<2,2>() = t.linear();
 aux.translation().start<2>() = t.translation();
 glLoadMatrixf(aux.data());\endcode</td></tr>
diff --git a/gtsam/3rdparty/Eigen/test/cholesky.cpp b/gtsam/3rdparty/Eigen/test/cholesky.cpp
index 293a375ad..ae4342cee 100644
--- a/gtsam/3rdparty/Eigen/test/cholesky.cpp
+++ b/gtsam/3rdparty/Eigen/test/cholesky.cpp
@@ -245,6 +245,22 @@ template<typename MatrixType> void cholesky_cplx(const MatrixType& m)
 
 }
 
+// regression test for bug 241
+template<typename MatrixType> void cholesky_bug241(const MatrixType& m)
+{
+  eigen_assert(m.rows() == 2 && m.cols() == 2);
+
+  typedef typename MatrixType::Scalar Scalar;
+  typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> VectorType;
+
+  MatrixType matA;
+  matA << 1, 1, 1, 1;
+  VectorType vecB;
+  vecB << 1, 1;
+  VectorType vecX = matA.ldlt().solve(vecB);
+  VERIFY_IS_APPROX(matA * vecX, vecB);
+}
+
 template<typename MatrixType> void cholesky_verify_assert()
 {
   MatrixType tmp;
@@ -271,6 +287,7 @@ void test_cholesky()
   for(int i = 0; i < g_repeat; i++) {
     CALL_SUBTEST_1( cholesky(Matrix<double,1,1>()) );
     CALL_SUBTEST_3( cholesky(Matrix2d()) );
+    CALL_SUBTEST_3( cholesky_bug241(Matrix2d()) );
     CALL_SUBTEST_4( cholesky(Matrix3f()) );
     CALL_SUBTEST_5( cholesky(Matrix4d()) );
     s = internal::random<int>(1,200);
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/main.h b/gtsam/3rdparty/Eigen/test/eigen2/main.h
index 9d0defa39..b361a44d9 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/main.h
+++ b/gtsam/3rdparty/Eigen/test/eigen2/main.h
@@ -29,6 +29,10 @@
 #include <string>
 #include <vector>
 
+#ifdef NDEBUG
+#undef NDEBUG
+#endif
+
 #ifndef EIGEN_TEST_FUNC
 #error EIGEN_TEST_FUNC must be defined
 #endif
diff --git a/gtsam/3rdparty/Eigen/test/householder.cpp b/gtsam/3rdparty/Eigen/test/householder.cpp
index 8031025e5..e77fa7ad0 100644
--- a/gtsam/3rdparty/Eigen/test/householder.cpp
+++ b/gtsam/3rdparty/Eigen/test/householder.cpp
@@ -48,7 +48,7 @@ template<typename MatrixType> void householder(const MatrixType& m)
   typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, Dynamic> VBlockMatrixType;
   typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::RowsAtCompileTime> TMatrixType;
   
-  Matrix<Scalar, EIGEN_SIZE_MAX(MatrixType::RowsAtCompileTime,MatrixType::ColsAtCompileTime), 1> _tmp(std::max(rows,cols));
+  Matrix<Scalar, EIGEN_SIZE_MAX(MatrixType::RowsAtCompileTime,MatrixType::ColsAtCompileTime), 1> _tmp((std::max)(rows,cols));
   Scalar* tmp = &_tmp.coeffRef(0,0);
 
   Scalar beta;
diff --git a/gtsam/3rdparty/Eigen/test/jacobisvd.cpp b/gtsam/3rdparty/Eigen/test/jacobisvd.cpp
index 907b290af..45873832a 100644
--- a/gtsam/3rdparty/Eigen/test/jacobisvd.cpp
+++ b/gtsam/3rdparty/Eigen/test/jacobisvd.cpp
@@ -66,7 +66,7 @@ void jacobisvd_compare_to_full(const MatrixType& m,
   typedef typename MatrixType::Index Index;
   Index rows = m.rows();
   Index cols = m.cols();
-  Index diagSize = std::min(rows, cols);
+  Index diagSize = (std::min)(rows, cols);
 
   JacobiSVD<MatrixType, QRPreconditioner> svd(m, computationOptions);
 
@@ -244,6 +244,17 @@ void jacobisvd_inf_nan()
   svd.compute(m, ComputeFullU | ComputeFullV);
 }
 
+// Regression test for bug 286: JacobiSVD loops indefinitely with some
+// matrices containing denormal numbers.
+void jacobisvd_bug286()
+{
+  Matrix2d M;
+  M << -7.90884e-313, -4.94e-324,
+                 0, 5.60844e-313;
+  JacobiSVD<Matrix2d> svd;
+  svd.compute(M); // just check we don't loop indefinitely
+}
+
 void jacobisvd_preallocate()
 {
   Vector3f v(3.f, 2.f, 1.f);
@@ -280,8 +291,6 @@ void jacobisvd_preallocate()
   internal::set_is_malloc_allowed(false);
   svd2.compute(m, ComputeFullU|ComputeFullV);
   internal::set_is_malloc_allowed(true);
-
-  
 }
 
 void test_jacobisvd()
@@ -336,4 +345,7 @@ void test_jacobisvd()
 
   // Check that preallocation avoids subsequent mallocs
   CALL_SUBTEST_9( jacobisvd_preallocate() );
+
+  // Regression check for bug 286
+  CALL_SUBTEST_2( jacobisvd_bug286() );
 }
diff --git a/gtsam/3rdparty/Eigen/test/lu.cpp b/gtsam/3rdparty/Eigen/test/lu.cpp
index eac7c1ee6..552364d29 100644
--- a/gtsam/3rdparty/Eigen/test/lu.cpp
+++ b/gtsam/3rdparty/Eigen/test/lu.cpp
@@ -64,7 +64,7 @@ template<typename MatrixType> void lu_non_invertible()
   typedef Matrix<typename MatrixType::Scalar, RowsAtCompileTime, RowsAtCompileTime>
           RMatrixType;
 
-  Index rank = internal::random<Index>(1, std::min(rows, cols)-1);
+  Index rank = internal::random<Index>(1, (std::min)(rows, cols)-1);
 
   // The image of the zero matrix should consist of a single (zero) column vector
   VERIFY((MatrixType::Zero(rows,cols).fullPivLu().image(MatrixType::Zero(rows,cols)).cols() == 1));
@@ -84,8 +84,8 @@ template<typename MatrixType> void lu_non_invertible()
   MatrixType u(rows,cols);
   u = lu.matrixLU().template triangularView<Upper>();
   RMatrixType l = RMatrixType::Identity(rows,rows);
-  l.block(0,0,rows,std::min(rows,cols)).template triangularView<StrictlyLower>()
-    = lu.matrixLU().block(0,0,rows,std::min(rows,cols));
+  l.block(0,0,rows,(std::min)(rows,cols)).template triangularView<StrictlyLower>()
+    = lu.matrixLU().block(0,0,rows,(std::min)(rows,cols));
 
   VERIFY_IS_APPROX(lu.permutationP() * m1 * lu.permutationQ(), l*u);
 
diff --git a/gtsam/3rdparty/Eigen/test/main.h b/gtsam/3rdparty/Eigen/test/main.h
index a8c6303b0..4ddd11e6b 100644
--- a/gtsam/3rdparty/Eigen/test/main.h
+++ b/gtsam/3rdparty/Eigen/test/main.h
@@ -23,9 +23,6 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#define min(A,B) please_protect_your_min_with_parentheses
-#define max(A,B) please_protect_your_max_with_parentheses
-
 #include <cstdlib>
 #include <cerrno>
 #include <ctime>
@@ -33,6 +30,15 @@
 #include <string>
 #include <vector>
 #include <typeinfo>
+#include <limits>
+#include <algorithm>
+#include <sstream>
+#include <complex>
+#include <deque>
+#include <queue>
+
+#define min(A,B) please_protect_your_min_with_parentheses
+#define max(A,B) please_protect_your_max_with_parentheses
 
 #ifdef NDEBUG
 #undef NDEBUG
diff --git a/gtsam/3rdparty/Eigen/test/nullary.cpp b/gtsam/3rdparty/Eigen/test/nullary.cpp
index 0bde253df..0df15c081 100644
--- a/gtsam/3rdparty/Eigen/test/nullary.cpp
+++ b/gtsam/3rdparty/Eigen/test/nullary.cpp
@@ -38,7 +38,7 @@ bool equalsIdentity(const MatrixType& A)
     }
   }
   for (Index i = 0; i < A.rows(); ++i) {
-    for (Index j = 0; j < std::min(i, A.cols()); ++j) {
+    for (Index j = 0; j < (std::min)(i, A.cols()); ++j) {
       offDiagOK = offDiagOK && (A(i,j) == zero);
     }
   }
diff --git a/gtsam/3rdparty/Eigen/test/packetmath.cpp b/gtsam/3rdparty/Eigen/test/packetmath.cpp
index a7a0cd132..279f080b0 100644
--- a/gtsam/3rdparty/Eigen/test/packetmath.cpp
+++ b/gtsam/3rdparty/Eigen/test/packetmath.cpp
@@ -128,7 +128,7 @@ template<typename Scalar> void packetmath()
   {
     data1[i] = internal::random<Scalar>()/RealScalar(PacketSize);
     data2[i] = internal::random<Scalar>()/RealScalar(PacketSize);
-    refvalue = std::max(refvalue,internal::abs(data1[i]));
+    refvalue = (std::max)(refvalue,internal::abs(data1[i]));
   }
 
   internal::pstore(data2, internal::pload<Packet>(data1));
@@ -264,16 +264,16 @@ template<typename Scalar> void packetmath_real()
 
   ref[0] = data1[0];
   for (int i=0; i<PacketSize; ++i)
-    ref[0] = std::min(ref[0],data1[i]);
+    ref[0] = (std::min)(ref[0],data1[i]);
   VERIFY(internal::isApprox(ref[0], internal::predux_min(internal::pload<Packet>(data1))) && "internal::predux_min");
 
-  CHECK_CWISE2(std::min, internal::pmin);
-  CHECK_CWISE2(std::max, internal::pmax);
+  CHECK_CWISE2((std::min), internal::pmin);
+  CHECK_CWISE2((std::max), internal::pmax);
   CHECK_CWISE1(internal::abs, internal::pabs);
 
   ref[0] = data1[0];
   for (int i=0; i<PacketSize; ++i)
-    ref[0] = std::max(ref[0],data1[i]);
+    ref[0] = (std::max)(ref[0],data1[i]);
   VERIFY(internal::isApprox(ref[0], internal::predux_max(internal::pload<Packet>(data1))) && "internal::predux_max");
   
   for (int i=0; i<PacketSize; ++i)
diff --git a/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp b/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp
index c40cf7399..8ae8311a7 100644
--- a/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp
+++ b/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp
@@ -58,7 +58,7 @@ template<typename MatrixType> void inverse_general_4x4(int repeat)
     MatrixType inv = m.inverse();
     double error = double( (m*inv-MatrixType::Identity()).norm() * absdet / NumTraits<Scalar>::epsilon() );
     error_sum += error;
-    error_max = std::max(error_max, error);
+    error_max = (std::max)(error_max, error);
   }
   std::cerr << "inverse_general_4x4, Scalar = " << type_name<Scalar>() << std::endl;
   double error_avg = error_sum / repeat;
diff --git a/gtsam/3rdparty/Eigen/test/product.h b/gtsam/3rdparty/Eigen/test/product.h
index 101766b18..40ae4d51b 100644
--- a/gtsam/3rdparty/Eigen/test/product.h
+++ b/gtsam/3rdparty/Eigen/test/product.h
@@ -29,7 +29,7 @@ template<typename Derived1, typename Derived2>
 bool areNotApprox(const MatrixBase<Derived1>& m1, const MatrixBase<Derived2>& m2, typename Derived1::RealScalar epsilon = NumTraits<typename Derived1::RealScalar>::dummy_precision())
 {
   return !((m1-m2).cwiseAbs2().maxCoeff() < epsilon * epsilon
-                          * std::max(m1.cwiseAbs2().maxCoeff(), m2.cwiseAbs2().maxCoeff()));
+                          * (std::max)(m1.cwiseAbs2().maxCoeff(), m2.cwiseAbs2().maxCoeff()));
 }
 
 template<typename MatrixType> void product(const MatrixType& m)
@@ -102,7 +102,7 @@ template<typename MatrixType> void product(const MatrixType& m)
 
   // test the previous tests were not screwed up because operator* returns 0
   // (we use the more accurate default epsilon)
-  if (!NumTraits<Scalar>::IsInteger && std::min(rows,cols)>1)
+  if (!NumTraits<Scalar>::IsInteger && (std::min)(rows,cols)>1)
   {
     VERIFY(areNotApprox(m1.transpose()*m2,m2.transpose()*m1));
   }
@@ -111,7 +111,7 @@ template<typename MatrixType> void product(const MatrixType& m)
   res = square;
   res.noalias() += m1 * m2.transpose();
   VERIFY_IS_APPROX(res, square + m1 * m2.transpose());
-  if (!NumTraits<Scalar>::IsInteger && std::min(rows,cols)>1)
+  if (!NumTraits<Scalar>::IsInteger && (std::min)(rows,cols)>1)
   {
     VERIFY(areNotApprox(res,square + m2 * m1.transpose()));
   }
@@ -123,7 +123,7 @@ template<typename MatrixType> void product(const MatrixType& m)
   res = square;
   res.noalias() -= m1 * m2.transpose();
   VERIFY_IS_APPROX(res, square - (m1 * m2.transpose()));
-  if (!NumTraits<Scalar>::IsInteger && std::min(rows,cols)>1)
+  if (!NumTraits<Scalar>::IsInteger && (std::min)(rows,cols)>1)
   {
     VERIFY(areNotApprox(res,square - m2 * m1.transpose()));
   }
@@ -147,7 +147,7 @@ template<typename MatrixType> void product(const MatrixType& m)
   res2 = square2;
   res2.noalias() += m1.transpose() * m2;
   VERIFY_IS_APPROX(res2, square2 + m1.transpose() * m2);
-  if (!NumTraits<Scalar>::IsInteger && std::min(rows,cols)>1)
+  if (!NumTraits<Scalar>::IsInteger && (std::min)(rows,cols)>1)
   {
     VERIFY(areNotApprox(res2,square2 + m2.transpose() * m1));
   }
diff --git a/gtsam/3rdparty/Eigen/test/product_extra.cpp b/gtsam/3rdparty/Eigen/test/product_extra.cpp
index 60f00a4da..15dc5ab96 100644
--- a/gtsam/3rdparty/Eigen/test/product_extra.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_extra.cpp
@@ -116,6 +116,16 @@ template<typename MatrixType> void product_extra(const MatrixType& m)
   VERIFY_IS_APPROX(tmp, m1 * m1.adjoint() * s1);
 }
 
+// Regression test for bug reported at http://forum.kde.org/viewtopic.php?f=74&t=96947
+void mat_mat_scalar_scalar_product()
+{
+  Eigen::Matrix2Xd dNdxy(2, 3);
+  dNdxy << -0.5, 0.5, 0,
+           -0.3, 0, 0.3;
+  double det = 6.0, wt = 0.5;
+  VERIFY_IS_APPROX(dNdxy.transpose()*dNdxy*det*wt, det*wt*dNdxy.transpose()*dNdxy);
+}
+  
 void zero_sized_objects()
 {
   // Bug 127
@@ -145,6 +155,7 @@ void test_product_extra()
   for(int i = 0; i < g_repeat; i++) {
     CALL_SUBTEST_1( product_extra(MatrixXf(internal::random<int>(1,320), internal::random<int>(1,320))) );
     CALL_SUBTEST_2( product_extra(MatrixXd(internal::random<int>(1,320), internal::random<int>(1,320))) );
+    CALL_SUBTEST_2( mat_mat_scalar_scalar_product() );
     CALL_SUBTEST_3( product_extra(MatrixXcf(internal::random<int>(1,150), internal::random<int>(1,150))) );
     CALL_SUBTEST_4( product_extra(MatrixXcd(internal::random<int>(1,150), internal::random<int>(1,150))) );
     CALL_SUBTEST_5( zero_sized_objects() );
diff --git a/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp b/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp
index ddfb1bad5..3cf651fa7 100644
--- a/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp
+++ b/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp
@@ -31,7 +31,7 @@ template<typename MatrixType> void qr()
   typedef typename MatrixType::Index Index;
 
   Index rows = internal::random<Index>(2,200), cols = internal::random<Index>(2,200), cols2 = internal::random<Index>(2,200);
-  Index rank = internal::random<Index>(1, std::min(rows, cols)-1);
+  Index rank = internal::random<Index>(1, (std::min)(rows, cols)-1);
 
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
@@ -64,7 +64,7 @@ template<typename MatrixType, int Cols2> void qr_fixedsize()
 {
   enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime };
   typedef typename MatrixType::Scalar Scalar;
-  int rank = internal::random<int>(1, std::min(int(Rows), int(Cols))-1);
+  int rank = internal::random<int>(1, (std::min)(int(Rows), int(Cols))-1);
   Matrix<Scalar,Rows,Cols> m1;
   createRandomPIMatrixOfRank(rank,Rows,Cols,m1);
   ColPivHouseholderQR<Matrix<Scalar,Rows,Cols> > qr(m1);
diff --git a/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp b/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp
index 175c293b3..d281b26a8 100644
--- a/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp
+++ b/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp
@@ -31,7 +31,7 @@ template<typename MatrixType> void qr()
   typedef typename MatrixType::Index Index;
 
   Index rows = internal::random<Index>(20,200), cols = internal::random<int>(20,200), cols2 = internal::random<int>(20,200);
-  Index rank = internal::random<Index>(1, std::min(rows, cols)-1);
+  Index rank = internal::random<Index>(1, (std::min)(rows, cols)-1);
 
   typedef typename MatrixType::Scalar Scalar;
   typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, MatrixType::RowsAtCompileTime> MatrixQType;
diff --git a/gtsam/3rdparty/Eigen/test/redux.cpp b/gtsam/3rdparty/Eigen/test/redux.cpp
index 57b4603c5..a8bcf3b51 100644
--- a/gtsam/3rdparty/Eigen/test/redux.cpp
+++ b/gtsam/3rdparty/Eigen/test/redux.cpp
@@ -43,8 +43,8 @@ template<typename MatrixType> void matrixRedux(const MatrixType& m)
   {
     s += m1(i,j);
     p *= m1(i,j);
-    minc = std::min(internal::real(minc), internal::real(m1(i,j)));
-    maxc = std::max(internal::real(maxc), internal::real(m1(i,j)));
+    minc = (std::min)(internal::real(minc), internal::real(m1(i,j)));
+    maxc = (std::max)(internal::real(maxc), internal::real(m1(i,j)));
   }
   const Scalar mean = s/Scalar(RealScalar(rows*cols));
 
@@ -86,8 +86,8 @@ template<typename VectorType> void vectorRedux(const VectorType& w)
     {
       s += v[j];
       p *= v[j];
-      minc = std::min(minc, internal::real(v[j]));
-      maxc = std::max(maxc, internal::real(v[j]));
+      minc = (std::min)(minc, internal::real(v[j]));
+      maxc = (std::max)(maxc, internal::real(v[j]));
     }
     VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(s - v.head(i).sum()), Scalar(1));
     VERIFY_IS_APPROX(p, v.head(i).prod());
@@ -103,8 +103,8 @@ template<typename VectorType> void vectorRedux(const VectorType& w)
     {
       s += v[j];
       p *= v[j];
-      minc = std::min(minc, internal::real(v[j]));
-      maxc = std::max(maxc, internal::real(v[j]));
+      minc = (std::min)(minc, internal::real(v[j]));
+      maxc = (std::max)(maxc, internal::real(v[j]));
     }
     VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(s - v.tail(size-i).sum()), Scalar(1));
     VERIFY_IS_APPROX(p, v.tail(size-i).prod());
@@ -120,8 +120,8 @@ template<typename VectorType> void vectorRedux(const VectorType& w)
     {
       s += v[j];
       p *= v[j];
-      minc = std::min(minc, internal::real(v[j]));
-      maxc = std::max(maxc, internal::real(v[j]));
+      minc = (std::min)(minc, internal::real(v[j]));
+      maxc = (std::max)(maxc, internal::real(v[j]));
     }
     VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(s - v.segment(i, size-2*i).sum()), Scalar(1));
     VERIFY_IS_APPROX(p, v.segment(i, size-2*i).prod());
diff --git a/gtsam/3rdparty/Eigen/test/sparse.h b/gtsam/3rdparty/Eigen/test/sparse.h
index 949a597fc..cc9da4855 100644
--- a/gtsam/3rdparty/Eigen/test/sparse.h
+++ b/gtsam/3rdparty/Eigen/test/sparse.h
@@ -29,6 +29,15 @@
 #include "main.h"
 
 #if EIGEN_GNUC_AT_LEAST(4,0) && !defined __ICC && !defined(__clang__)
+
+#ifdef min
+#undef min
+#endif
+
+#ifdef max
+#undef max
+#endif
+
 #include <tr1/unordered_map>
 #define EIGEN_UNORDERED_MAP_SUPPORT
 namespace std {
diff --git a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp
index 9d79ca740..6f54d2ebc 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp
@@ -33,7 +33,7 @@ template<typename SparseMatrixType> void sparse_basic(const SparseMatrixType& re
   typedef typename SparseMatrixType::Scalar Scalar;
   enum { Flags = SparseMatrixType::Flags };
 
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
   Scalar eps = 1e-6;
@@ -206,7 +206,7 @@ template<typename SparseMatrixType> void sparse_basic(const SparseMatrixType& re
     initSparse<Scalar>(density, refMat2, m2);
     int j0 = internal::random(0,rows-2);
     int j1 = internal::random(0,rows-2);
-    int n0 = internal::random<int>(1,rows-std::max(j0,j1));
+    int n0 = internal::random<int>(1,rows-(std::max)(j0,j1));
     VERIFY_IS_APPROX(m2.innerVectors(j0,n0), refMat2.block(0,j0,rows,n0));
     VERIFY_IS_APPROX(m2.innerVectors(j0,n0)+m2.innerVectors(j1,n0),
                      refMat2.block(0,j0,rows,n0)+refMat2.block(0,j1,rows,n0));
diff --git a/gtsam/3rdparty/Eigen/test/sparse_product.cpp b/gtsam/3rdparty/Eigen/test/sparse_product.cpp
index 90ec3781e..a53ab3f1b 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_product.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_product.cpp
@@ -32,7 +32,7 @@ template<typename SparseMatrixType> void sparse_product(const SparseMatrixType&
   typedef typename SparseMatrixType::Scalar Scalar;
   enum { Flags = SparseMatrixType::Flags };
 
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
 
diff --git a/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp b/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp
index aba61e6c0..12a1cb9b6 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp
@@ -47,7 +47,7 @@ initSPD(double density,
 
 template<typename Scalar> void sparse_solvers(int rows, int cols)
 {
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
   // Scalar eps = 1e-6;
diff --git a/gtsam/3rdparty/Eigen/test/sparse_vector.cpp b/gtsam/3rdparty/Eigen/test/sparse_vector.cpp
index be85740c0..e0c281c83 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_vector.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_vector.cpp
@@ -26,8 +26,8 @@
 
 template<typename Scalar> void sparse_vector(int rows, int cols)
 {
-  double densityMat = std::max(8./(rows*cols), 0.01);
-  double densityVec = std::max(8./float(rows), 0.1);
+  double densityMat = (std::max)(8./(rows*cols), 0.01);
+  double densityVec = (std::max)(8./float(rows), 0.1);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
   typedef SparseVector<Scalar> SparseVectorType;
diff --git a/gtsam/3rdparty/Eigen/test/stable_norm.cpp b/gtsam/3rdparty/Eigen/test/stable_norm.cpp
index 5bf249577..206a274d6 100644
--- a/gtsam/3rdparty/Eigen/test/stable_norm.cpp
+++ b/gtsam/3rdparty/Eigen/test/stable_norm.cpp
@@ -68,8 +68,8 @@ template<typename MatrixType> void stable_norm(const MatrixType& m)
   Index rows = m.rows();
   Index cols = m.cols();
 
-  Scalar big = internal::random<Scalar>() * (std::numeric_limits<RealScalar>::max() * RealScalar(1e-4));
-  Scalar small = internal::random<Scalar>() * (std::numeric_limits<RealScalar>::min() * RealScalar(1e4));
+  Scalar big = internal::random<Scalar>() * ((std::numeric_limits<RealScalar>::max)() * RealScalar(1e-4));
+  Scalar small = internal::random<Scalar>() * ((std::numeric_limits<RealScalar>::min)() * RealScalar(1e4));
 
   MatrixType  vzero = MatrixType::Zero(rows, cols),
               vrand = MatrixType::Random(rows, cols),
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT b/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT
index 0b2823058..c56bd63d6 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT
@@ -331,7 +331,7 @@ class FFT
         // if the vector is strided, then we need to copy it to a packed temporary
         Matrix<src_type,1,Dynamic> tmp;
         if ( resize_input ) {
-          size_t ncopy = std::min(src.size(),src.size() + resize_input);
+          size_t ncopy = (std::min)(src.size(),src.size() + resize_input);
           tmp.setZero(src.size() + resize_input);
           if ( realfft && HasFlag(HalfSpectrum) ) {
             // pad at the Nyquist bin
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
index e6fdf4737..d65a97740 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
@@ -231,7 +231,7 @@ private:
 template<typename BVH, typename Minimizer>
 typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)
 {
-  return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), std::numeric_limits<typename Minimizer::Scalar>::max());
+  return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());
 }
 
 /**  Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer.
@@ -264,7 +264,7 @@ typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Mini
   ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
   std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
 
-  Scalar minimum = std::numeric_limits<Scalar>::max();
+  Scalar minimum = (std::numeric_limits<Scalar>::max)();
   todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));
 
   while(!todo.empty()) {
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
index cedb1d551..50c0ca84e 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
@@ -259,7 +259,7 @@ void MatrixExponential<MatrixType>::computeUV(float)
     pade5(m_M);
   } else {
     const float maxnorm = 3.925724783138660f;
-    m_squarings = max(0, (int)ceil(log2(m_l1norm / maxnorm)));
+    m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm)));
     MatrixType A = m_M / pow(Scalar(2), Scalar(static_cast<RealScalar>(m_squarings)));
     pade7(A);
   }
@@ -281,7 +281,7 @@ void MatrixExponential<MatrixType>::computeUV(double)
     pade9(m_M);
   } else {
     const double maxnorm = 5.371920351148152;
-    m_squarings = max(0, (int)ceil(log2(m_l1norm / maxnorm)));
+    m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm)));
     MatrixType A = m_M / pow(Scalar(2), Scalar(m_squarings));
     pade13(A);
   }
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp b/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp
index d773afb77..e77e84b6d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp
@@ -90,13 +90,13 @@ struct BallPointStuff //this class provides functions to be both an intersector
   }
 
   double minimumOnVolume(const BoxType &r) { ++calls; return r.squaredExteriorDistance(p); }
-  double minimumOnObject(const BallType &b) { ++calls; return std::max(0., (b.center - p).squaredNorm() - SQR(b.radius)); }
+  double minimumOnObject(const BallType &b) { ++calls; return (std::max)(0., (b.center - p).squaredNorm() - SQR(b.radius)); }
   double minimumOnVolumeVolume(const BoxType &r1, const BoxType &r2) { ++calls; return r1.squaredExteriorDistance(r2); }
-  double minimumOnVolumeObject(const BoxType &r, const BallType &b) { ++calls; return SQR(std::max(0., r.exteriorDistance(b.center) - b.radius)); }
-  double minimumOnObjectVolume(const BallType &b, const BoxType &r) { ++calls; return SQR(std::max(0., r.exteriorDistance(b.center) - b.radius)); }
-  double minimumOnObjectObject(const BallType &b1, const BallType &b2){ ++calls; return SQR(std::max(0., (b1.center - b2.center).norm() - b1.radius - b2.radius)); }
+  double minimumOnVolumeObject(const BoxType &r, const BallType &b) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
+  double minimumOnObjectVolume(const BallType &b, const BoxType &r) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
+  double minimumOnObjectObject(const BallType &b1, const BallType &b2){ ++calls; return SQR((std::max)(0., (b1.center - b2.center).norm() - b1.radius - b2.radius)); }
   double minimumOnVolumeObject(const BoxType &r, const VectorType &v) { ++calls; return r.squaredExteriorDistance(v); }
-  double minimumOnObjectObject(const BallType &b, const VectorType &v){ ++calls; return SQR(std::max(0., (b.center - v).norm() - b.radius)); }
+  double minimumOnObjectObject(const BallType &b, const VectorType &v){ ++calls; return SQR((std::max)(0., (b.center - v).norm() - b.radius)); }
 
   VectorType p;
   int calls;
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp b/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp
index 5ea438c2a..996b42a7f 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp
@@ -36,7 +36,7 @@ double binom(int n, int k)
 template <typename Derived, typename OtherDerived>
 double relerr(const MatrixBase<Derived>& A, const MatrixBase<OtherDerived>& B)
 {
-  return std::sqrt((A - B).cwiseAbs2().sum() / std::min(A.cwiseAbs2().sum(), B.cwiseAbs2().sum()));
+  return std::sqrt((A - B).cwiseAbs2().sum() / (std::min)(A.cwiseAbs2().sum(), B.cwiseAbs2().sum()));
 }
 
 template <typename T>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp
index a004995f6..b1fd481e8 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp
@@ -67,7 +67,7 @@ template<typename SparseMatrixType> void sparse_extra(const SparseMatrixType& re
   typedef typename SparseMatrixType::Scalar Scalar;
   enum { Flags = SparseMatrixType::Flags };
 
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
   Scalar eps = 1e-6;
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_ldlt.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_ldlt.cpp
index 4ceda3188..03a26bcd2 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_ldlt.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/sparse_ldlt.cpp
@@ -33,7 +33,7 @@ template<typename Scalar> void sparse_ldlt(int rows, int cols)
 {
   static bool odd = true;
   odd = !odd;
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_llt.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_llt.cpp
index df198cd52..5f8a7ce36 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_llt.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/sparse_llt.cpp
@@ -31,7 +31,7 @@
 
 template<typename Scalar> void sparse_llt(int rows, int cols)
 {
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_lu.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_lu.cpp
index 188d291cc..d58e85a0a 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_lu.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/sparse_lu.cpp
@@ -35,7 +35,7 @@
 
 template<typename Scalar> void sparse_lu(int rows, int cols)
 {
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;