diff --git a/Eigen/CMakeLists.txt b/Eigen/CMakeLists.txt
index fcdd02213..7ca3640ce 100644
--- a/Eigen/CMakeLists.txt
+++ b/Eigen/CMakeLists.txt
@@ -1,12 +1,14 @@
-SET(Eigen_HEADERS Core CoreDeclarations LU Cholesky QR)
+SET(Eigen_HEADERS Core CoreDeclarations LU Cholesky QR Geometry Sparse Array)
 
-SET(Eigen_SRCS
-  src/Core/CoreInstantiations.cpp
-  src/Cholesky/CholeskyInstantiations.cpp
-  src/QR/QrInstantiations.cpp
-)
+IF(TEST_LIB)
+    SET(Eigen_SRCS
+      src/Core/CoreInstantiations.cpp
+      src/Cholesky/CholeskyInstantiations.cpp
+      src/QR/QrInstantiations.cpp
+    )
 
-ADD_LIBRARY(Eigen2 SHARED ${Eigen_SRCS})
+    ADD_LIBRARY(Eigen2 SHARED ${Eigen_SRCS})
+ENDIF(TEST_LIB)
 
 IF(CMAKE_COMPILER_IS_GNUCXX)
     SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g1 -O2")
@@ -14,7 +16,7 @@ IF(CMAKE_COMPILER_IS_GNUCXX)
 ENDIF(CMAKE_COMPILER_IS_GNUCXX)
 
 SET(INCLUDE_INSTALL_DIR
-    "${CMAKE_INSTALL_PREFIX}/include/eigen2"
+    "${CMAKE_INSTALL_PREFIX}/include"
     CACHE PATH
     "The directory where we install the header files"
     FORCE)
@@ -24,9 +26,11 @@ INSTALL(FILES
   DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen
   )
 
-INSTALL(TARGETS Eigen2
-        RUNTIME DESTINATION bin
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib)
+IF(TEST_LIB)
+    INSTALL(TARGETS Eigen2
+            RUNTIME DESTINATION bin
+            LIBRARY DESTINATION lib
+            ARCHIVE DESTINATION lib)
+ENDIF(TEST_LIB)
 
 ADD_SUBDIRECTORY(src)
\ No newline at end of file
diff --git a/Eigen/src/CMakeLists.txt b/Eigen/src/CMakeLists.txt
index 14a447d86..1d060e85a 100644
--- a/Eigen/src/CMakeLists.txt
+++ b/Eigen/src/CMakeLists.txt
@@ -2,3 +2,6 @@ ADD_SUBDIRECTORY(Core)
 ADD_SUBDIRECTORY(LU)
 ADD_SUBDIRECTORY(QR)
 ADD_SUBDIRECTORY(Cholesky)
+ADD_SUBDIRECTORY(Array)
+ADD_SUBDIRECTORY(Geometry)
+ADD_SUBDIRECTORY(Sparse)
diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h
index bf4b8d739..5074ea88f 100644
--- a/Eigen/src/Core/Matrix.h
+++ b/Eigen/src/Core/Matrix.h
@@ -235,13 +235,12 @@ class Matrix : public MatrixBase<Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCol
     EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Matrix, *=)
     EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Matrix, /=)
 
-    /** Default constructor, does nothing. Only for fixed-size matrices.
-      * For dynamic-size matrices and vectors, this constructor is forbidden (guarded by
-      * an assertion) because it would leave the matrix without an allocated data buffer.
+    /** Default constructor, for fixed-size matrices, does nothing.
+      * For dynamic-size matrices, initializes with initial size 1x1, which is inefficient, hence
+      * when performance matters one should avoid using this constructor on dynamic-size matrices.
       */
-    inline explicit Matrix()
+    inline explicit Matrix() : m_storage(1, 1, 1)
     {
-      ei_assert(RowsAtCompileTime != Dynamic && ColsAtCompileTime != Dynamic);
       ei_assert(RowsAtCompileTime > 0 && ColsAtCompileTime > 0);
     }