On a side note, does anyone have any recommendations for C++ plotting libraries that integrate nicely with Eigen matrices/vectors? Even better if it is usable through lldb when breakpoints are set. I’m trying to recreate my workflow in matlab where you can set a breakpoint at some point in the code and visualize through different plots the variables when writing an algorithm. I find this makes matlab very nice for prototyping and the lack of this workflow becomes a real pain point when we go to convert our matlab implementation to a more performant C++ implementation.