Test eigen RC 3.4

tools/workspace/eigen/repository.bzl

@@ -1,27 +1,18 @@
 # -*- python -*-
 
-load(
-    "@drake//tools/workspace:pkg_config.bzl",
-    "pkg_config_repository",
-)
+load("@bazel_tools//tools/build_defs/repo:git.bzl", "new_git_repository")
 
-def eigen_repository(
-        name,
-        licenses = [
-            "notice",  # BSD-3-Clause
-            "reciprocal",  # MPL-2.0
-            "unencumbered",  # Public-Domain
-        ],
-        modname = "eigen3",
-        atleast_version = "3.3.4",
-        extra_defines = ["EIGEN_MPL2_ONLY"],
-        pkg_config_paths = ["/usr/local/opt/eigen/share/pkgconfig"],
-        **kwargs):
-    pkg_config_repository(
+def eigen_repository(name):
+    new_git_repository(
         name = name,
-        licenses = licenses,
-        modname = modname,
-        extra_defines = extra_defines,
-        pkg_config_paths = pkg_config_paths,
-        **kwargs
+        remote = "https://gitlab.com/libeigen/eigen.git",
+        branch = "3.4",
+        build_file_content = """
+cc_library(
+    name = "eigen",
+    hdrs = glob(["Eigen/**", "unsupported/Eigen/**"]),
+    includes = ["."],
+    visibility = ["//visibility:public"],
+)
+""",
     )