openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#include <unsupported/Eigen/MatrixFunctions>
#include <iostream>
using namespace Eigen;
int main()
{
MatrixXd A = MatrixXd::Random(3,3);
std::cout << "A = \n" << A << "\n\n";
MatrixXd sinA = A.sin();
std::cout << "sin(A) = \n" << sinA << "\n\n";
MatrixXd cosA = A.cos();
std::cout << "cos(A) = \n" << cosA << "\n\n";
// The matrix functions satisfy sin^2(A) + cos^2(A) = I,
// like the scalar functions.
std::cout << "sin^2(A) + cos^2(A) = \n" << sinA*sinA + cosA*cosA << "\n\n";
}