[upstream_utils] Upgrade to Eigen 5.0.0 (#8240)

Author: calcmogul

upstream_utils/eigen.py

@@ -77,6 +77,7 @@ def eigen_inclusions(dp: Path, f: str):
         "SparseLU",
         "SparseQR",
         "StdVector",
+        "Version",
         "misc",
         "plugins",
     ]
@@ -144,8 +145,7 @@ def copy_upstream_src(wpilib_root: Path):
 def main():
     name = "eigen"
     url = "https://gitlab.com/libeigen/eigen.git"
-    # master on 2025-09-08
-    tag = "e0a59e5a66e6d16fa93ab4f5e48bf539205e837f"
+    tag = "5.0.0"
 
     eigen = Lib(name, url, tag, copy_upstream_src)
     eigen.main()

wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core

@@ -11,6 +11,9 @@
 #ifndef EIGEN_CORE_MODULE_H
 #define EIGEN_CORE_MODULE_H
 
+// Eigen version information.
+#include "Version"
+
 // first thing Eigen does: stop the compiler from reporting useless warnings.
 #include "src/Core/util/DisableStupidWarnings.h"
 

wpimath/src/main/native/thirdparty/eigen/include/Eigen/Version

@@ -0,0 +1,14 @@
+#ifndef EIGEN_VERSION_H
+#define EIGEN_VERSION_H
+
+// The "WORLD" version will forever remain "3" for the "Eigen3" library.
+#define EIGEN_WORLD_VERSION 3
+// As of Eigen3 5.0.0, we have moved to Semantic Versioning (semver.org).
+#define EIGEN_MAJOR_VERSION 5
+#define EIGEN_MINOR_VERSION 0
+#define EIGEN_PATCH_VERSION 0
+#define EIGEN_PRERELEASE_VERSION "dev"
+#define EIGEN_BUILD_VERSION "master"
+#define EIGEN_VERSION_STRING "5.0.0-dev+master"
+
+#endif  // EIGEN_VERSION_H

wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Macros.h

@@ -17,13 +17,9 @@
 // Eigen version and basic defaults
 //------------------------------------------------------------------------------------------
 
-#define EIGEN_WORLD_VERSION 3
-#define EIGEN_MAJOR_VERSION 4
-#define EIGEN_MINOR_VERSION 90
-
 #define EIGEN_VERSION_AT_LEAST(x, y, z) \
-  (EIGEN_WORLD_VERSION > x ||           \
-   (EIGEN_WORLD_VERSION >= x && (EIGEN_MAJOR_VERSION > y || (EIGEN_MAJOR_VERSION >= y && EIGEN_MINOR_VERSION >= z))))
+  (EIGEN_MAJOR_VERSION > x ||           \
+   (EIGEN_MAJOR_VERSION >= x && (EIGEN_MINOR_VERSION > y || (EIGEN_MINOR_VERSION >= y && EIGEN_PATCH_VERSION >= z))))
 
 #ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
 #define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::RowMajor