Merge pull request #788 from dimforge/docs_improvements

Docs improvements - part 1

nalgebra-glm/src/common.rs

@@ -239,9 +239,9 @@ where
     x.map(|x| x.floor())
 }
 
-//// FIXME: should be implemented for TVec/TMat?
+//// TODO: should be implemented for TVec/TMat?
 //pub fn fma<N: Number>(a: N, b: N, c: N) -> N {
-//    // FIXME: use an actual FMA
+//    // TODO: use an actual FMA
 //    a * b + c
 //}
 
@@ -268,10 +268,10 @@ where
     x.map(|x| x.fract())
 }
 
-//// FIXME: should be implemented for TVec/TMat?
+//// TODO: should be implemented for TVec/TMat?
 ///// Returns the (significant, exponent) of this float number.
 //pub fn frexp<N: RealField>(x: N, exp: N) -> (N, N) {
-//    // FIXME: is there a better approach?
+//    // TODO: is there a better approach?
 //    let e = x.log2().ceil();
 //    (x * (-e).exp2(), e)
 //}
@@ -327,7 +327,7 @@ where
 
 ///// Returns the (significant, exponent) of this float number.
 //pub fn ldexp<N: RealField>(x: N, exp: N) -> N {
-//    // FIXME: is there a better approach?
+//    // TODO: is there a better approach?
 //    x * (exp).exp2()
 //}
 

nalgebra-glm/src/gtc/constants.rs

@@ -227,7 +227,7 @@ pub fn root_three<N: RealField>() -> N {
 /// * [`root_five`](fn.root_five.html)
 /// * [`root_three`](fn.root_three.html)
 pub fn root_two<N: RealField>() -> N {
-    // FIXME: there should be a crate::sqrt_2() on the RealField trait.
+    // TODO: there should be a crate::sqrt_2() on the RealField trait.
     na::convert::<_, N>(2.0).sqrt()
 }
 

nalgebra-glm/src/gtc/matrix_inverse.rs

@@ -8,7 +8,7 @@ pub fn affine_inverse<N: RealField, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D
 where
     DefaultAllocator: Alloc<N, D, D>,
 {
-    // FIXME: this should be optimized.
+    // TODO: this should be optimized.
     m.try_inverse().unwrap_or_else(TMat::<_, D, D>::zeros)
 }
 

nalgebra-glm/src/gtc/quaternion.rs

@@ -57,18 +57,18 @@ pub fn quat_look_at_rh<N: RealField>(direction: &TVec3<N>, up: &TVec3<N>) -> Qua
 
 /// The "roll" Euler angle of the quaternion `x` assumed to be normalized.
 pub fn quat_roll<N: RealField>(x: &Qua<N>) -> N {
-    // FIXME: optimize this.
+    // TODO: optimize this.
     quat_euler_angles(x).z
 }
 
 /// The "yaw" Euler angle of the quaternion `x` assumed to be normalized.
 pub fn quat_yaw<N: RealField>(x: &Qua<N>) -> N {
-    // FIXME: optimize this.
+    // TODO: optimize this.
     quat_euler_angles(x).y
 }
 
 /// The "pitch" Euler angle of the quaternion `x` assumed to be normalized.
 pub fn quat_pitch<N: RealField>(x: &Qua<N>) -> N {
-    // FIXME: optimize this.
+    // TODO: optimize this.
     quat_euler_angles(x).x
 }

nalgebra-lapack/src/cholesky.rs

@@ -48,7 +48,7 @@ where
     /// Only the lower-triangular part of the input matrix is considered.
     #[inline]
     pub fn new(mut m: MatrixN<N, D>) -> Option<Self> {
-        // FIXME: check symmetry as well?
+        // TODO: check symmetry as well?
         assert!(
             m.is_square(),
             "Unable to compute the cholesky decomposition of a non-square matrix."

nalgebra-lapack/src/eigen.rs

@@ -79,7 +79,7 @@ where
         let lda = n as i32;
 
         let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
-        // FIXME: Tap into the workspace.
+        // TODO: Tap into the workspace.
         let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
 
         let mut info = 0;
@@ -379,6 +379,6 @@ macro_rules! real_eigensystem_scalar_impl (
 real_eigensystem_scalar_impl!(f32, lapack::sgeev);
 real_eigensystem_scalar_impl!(f64, lapack::dgeev);
 
-//// FIXME: decomposition of complex matrix and matrices with complex eigenvalues.
+//// TODO: decomposition of complex matrix and matrices with complex eigenvalues.
 // eigensystem_complex_impl!(f32, lapack::cgeev);
 // eigensystem_complex_impl!(f64, lapack::zgeev);

nalgebra-lapack/src/lapack_check.rs

@@ -2,7 +2,7 @@
 
 macro_rules! lapack_check(
     ($info: expr) => (
-        // FIXME: return a richer error.
+        // TODO: return a richer error.
         if $info != 0 {
             return None;
         }

nalgebra-lapack/src/lu.rs

@@ -119,7 +119,7 @@ where
         id
     }
 
-    // FIXME: when we support resizing a matrix, we could add unwrap_u/unwrap_l that would
+    // TODO: when we support resizing a matrix, we could add unwrap_u/unwrap_l that would
     // re-use the memory from the internal matrix!
 
     /// Gets the LAPACK permutation indices.

nalgebra-lapack/src/svd.rs

@@ -37,9 +37,9 @@ where
     DefaultAllocator: Allocator<N, R, R> + Allocator<N, DimMinimum<R, C>> + Allocator<N, C, C>,
 {
     /// The left-singular vectors `U` of this SVD.
-    pub u: MatrixN<N, R>, // FIXME: should be MatrixMN<N, R, DimMinimum<R, C>>
+    pub u: MatrixN<N, R>, // TODO: should be MatrixMN<N, R, DimMinimum<R, C>>
     /// The right-singular vectors `V^t` of this SVD.
-    pub vt: MatrixN<N, C>, // FIXME: should be MatrixMN<N, DimMinimum<R, C>, C>
+    pub vt: MatrixN<N, C>, // TODO: should be MatrixMN<N, DimMinimum<R, C>, C>
     /// The singular values of this SVD.
     pub singular_values: VectorN<N, DimMinimum<R, C>>,
 }
@@ -134,7 +134,7 @@ macro_rules! svd_impl(
         }
 
         impl<R: DimMin<C>, C: Dim> SVD<$t, R, C>
-            // FIXME: All those bounds…
+            // TODO: All those bounds…
             where DefaultAllocator: Allocator<$t, R, C>                 +
                                     Allocator<$t, C, R>                 +
                                     Allocator<$t, U1, R>                +
@@ -219,7 +219,7 @@ macro_rules! svd_impl(
                 i
             }
 
-            // FIXME: add methods to retrieve the null-space and column-space? (Respectively
+            // TODO: add methods to retrieve the null-space and column-space? (Respectively
             // corresponding to the zero and non-zero singular values).
         }
     );

src/base/alias.rs

@@ -21,94 +21,132 @@ pub type MatrixNM<N, R, C> = Matrix<N, R, C, Owned<N, R, C>>;
 pub type MatrixMN<N, R, C> = Matrix<N, R, C, Owned<N, R, C>>;
 
 /// A statically sized column-major square matrix with `D` rows and columns.
-pub type MatrixN<N, D> = MatrixMN<N, D, D>;
+pub type MatrixN<N, D> = Matrix<N, D, D, Owned<N, D, D>>;
 
 /// A dynamically sized column-major matrix.
 #[cfg(any(feature = "std", feature = "alloc"))]
-pub type DMatrix<N> = MatrixN<N, Dynamic>;
+pub type DMatrix<N> = Matrix<N, Dynamic, Dynamic, Owned<N, Dynamic, Dynamic>>;
+
+/// A heap-allocated, column-major, matrix with a dynamic number of rows and 1 columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type MatrixXx1<N> = Matrix<N, Dynamic, U1, Owned<N, Dynamic, U1>>;
+/// A heap-allocated, column-major, matrix with a dynamic number of rows and 2 columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type MatrixXx2<N> = Matrix<N, Dynamic, U2, Owned<N, Dynamic, U2>>;
+/// A heap-allocated, column-major, matrix with a dynamic number of rows and 3 columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type MatrixXx3<N> = Matrix<N, Dynamic, U3, Owned<N, Dynamic, U3>>;
+/// A heap-allocated, column-major, matrix with a dynamic number of rows and 4 columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type MatrixXx4<N> = Matrix<N, Dynamic, U4, Owned<N, Dynamic, U4>>;
+/// A heap-allocated, column-major, matrix with a dynamic number of rows and 5 columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type MatrixXx5<N> = Matrix<N, Dynamic, U5, Owned<N, Dynamic, U5>>;
+/// A heap-allocated, column-major, matrix with a dynamic number of rows and 6 columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type MatrixXx6<N> = Matrix<N, Dynamic, U6, Owned<N, Dynamic, U6>>;
+
+/// A heap-allocated, row-major, matrix with 1 rows and a dynamic number of columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type Matrix1xX<N> = Matrix<N, U1, Dynamic, Owned<N, U1, Dynamic>>;
+/// A heap-allocated, row-major, matrix with 2 rows and a dynamic number of columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type Matrix2xX<N> = Matrix<N, U2, Dynamic, Owned<N, U2, Dynamic>>;
+/// A heap-allocated, row-major, matrix with 3 rows and a dynamic number of columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type Matrix3xX<N> = Matrix<N, U3, Dynamic, Owned<N, U3, Dynamic>>;
+/// A heap-allocated, row-major, matrix with 4 rows and a dynamic number of columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type Matrix4xX<N> = Matrix<N, U4, Dynamic, Owned<N, U4, Dynamic>>;
+/// A heap-allocated, row-major, matrix with 5 rows and a dynamic number of columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type Matrix5xX<N> = Matrix<N, U5, Dynamic, Owned<N, U5, Dynamic>>;
+/// A heap-allocated, row-major, matrix with 6 rows and a dynamic number of columns.
+#[cfg(any(feature = "std", feature = "alloc"))]
+pub type Matrix6xX<N> = Matrix<N, U6, Dynamic, Owned<N, U6, Dynamic>>;
 
 /// A stack-allocated, column-major, 1x1 square matrix.
-pub type Matrix1<N> = MatrixN<N, U1>;
+pub type Matrix1<N> = Matrix<N, U1, U1, Owned<N, U1, U1>>;
 /// A stack-allocated, column-major, 2x2 square matrix.
-pub type Matrix2<N> = MatrixN<N, U2>;
+pub type Matrix2<N> = Matrix<N, U2, U2, Owned<N, U2, U2>>;
 /// A stack-allocated, column-major, 3x3 square matrix.
-pub type Matrix3<N> = MatrixN<N, U3>;
+pub type Matrix3<N> = Matrix<N, U3, U3, Owned<N, U3, U3>>;
 /// A stack-allocated, column-major, 4x4 square matrix.
-pub type Matrix4<N> = MatrixN<N, U4>;
+pub type Matrix4<N> = Matrix<N, U4, U4, Owned<N, U4, U4>>;
 /// A stack-allocated, column-major, 5x5 square matrix.
-pub type Matrix5<N> = MatrixN<N, U5>;
+pub type Matrix5<N> = Matrix<N, U5, U5, Owned<N, U5, U5>>;
 /// A stack-allocated, column-major, 6x6 square matrix.
-pub type Matrix6<N> = MatrixN<N, U6>;
+pub type Matrix6<N> = Matrix<N, U6, U6, Owned<N, U6, U6>>;
 
 /// A stack-allocated, column-major, 1x2 matrix.
-pub type Matrix1x2<N> = MatrixMN<N, U1, U2>;
+pub type Matrix1x2<N> = Matrix<N, U1, U2, Owned<N, U1, U2>>;
 /// A stack-allocated, column-major, 1x3 matrix.
-pub type Matrix1x3<N> = MatrixMN<N, U1, U3>;
+pub type Matrix1x3<N> = Matrix<N, U1, U3, Owned<N, U1, U3>>;
 /// A stack-allocated, column-major, 1x4 matrix.
-pub type Matrix1x4<N> = MatrixMN<N, U1, U4>;
+pub type Matrix1x4<N> = Matrix<N, U1, U4, Owned<N, U1, U4>>;
 /// A stack-allocated, column-major, 1x5 matrix.
-pub type Matrix1x5<N> = MatrixMN<N, U1, U5>;
+pub type Matrix1x5<N> = Matrix<N, U1, U5, Owned<N, U1, U5>>;
 /// A stack-allocated, column-major, 1x6 matrix.
-pub type Matrix1x6<N> = MatrixMN<N, U1, U6>;
+pub type Matrix1x6<N> = Matrix<N, U1, U6, Owned<N, U1, U6>>;
 
 /// A stack-allocated, column-major, 2x3 matrix.
-pub type Matrix2x3<N> = MatrixMN<N, U2, U3>;
+pub type Matrix2x3<N> = Matrix<N, U2, U3, Owned<N, U2, U3>>;
 /// A stack-allocated, column-major, 2x4 matrix.
-pub type Matrix2x4<N> = MatrixMN<N, U2, U4>;
+pub type Matrix2x4<N> = Matrix<N, U2, U4, Owned<N, U2, U4>>;
 /// A stack-allocated, column-major, 2x5 matrix.
-pub type Matrix2x5<N> = MatrixMN<N, U2, U5>;
+pub type Matrix2x5<N> = Matrix<N, U2, U5, Owned<N, U2, U5>>;
 /// A stack-allocated, column-major, 2x6 matrix.
-pub type Matrix2x6<N> = MatrixMN<N, U2, U6>;
+pub type Matrix2x6<N> = Matrix<N, U2, U6, Owned<N, U2, U6>>;
 
 /// A stack-allocated, column-major, 3x4 matrix.
-pub type Matrix3x4<N> = MatrixMN<N, U3, U4>;
+pub type Matrix3x4<N> = Matrix<N, U3, U4, Owned<N, U3, U4>>;
 /// A stack-allocated, column-major, 3x5 matrix.
-pub type Matrix3x5<N> = MatrixMN<N, U3, U5>;
+pub type Matrix3x5<N> = Matrix<N, U3, U5, Owned<N, U3, U5>>;
 /// A stack-allocated, column-major, 3x6 matrix.
-pub type Matrix3x6<N> = MatrixMN<N, U3, U6>;
+pub type Matrix3x6<N> = Matrix<N, U3, U6, Owned<N, U3, U6>>;
 
 /// A stack-allocated, column-major, 4x5 matrix.
-pub type Matrix4x5<N> = MatrixMN<N, U4, U5>;
+pub type Matrix4x5<N> = Matrix<N, U4, U5, Owned<N, U4, U5>>;
 /// A stack-allocated, column-major, 4x6 matrix.
-pub type Matrix4x6<N> = MatrixMN<N, U4, U6>;
+pub type Matrix4x6<N> = Matrix<N, U4, U6, Owned<N, U4, U6>>;
 
 /// A stack-allocated, column-major, 5x6 matrix.
-pub type Matrix5x6<N> = MatrixMN<N, U5, U6>;
+pub type Matrix5x6<N> = Matrix<N, U5, U6, Owned<N, U5, U6>>;
 
 /// A stack-allocated, column-major, 2x1 matrix.
-pub type Matrix2x1<N> = MatrixMN<N, U2, U1>;
+pub type Matrix2x1<N> = Matrix<N, U2, U1, Owned<N, U2, U1>>;
 /// A stack-allocated, column-major, 3x1 matrix.
-pub type Matrix3x1<N> = MatrixMN<N, U3, U1>;
+pub type Matrix3x1<N> = Matrix<N, U3, U1, Owned<N, U3, U1>>;
 /// A stack-allocated, column-major, 4x1 matrix.
-pub type Matrix4x1<N> = MatrixMN<N, U4, U1>;
+pub type Matrix4x1<N> = Matrix<N, U4, U1, Owned<N, U4, U1>>;
 /// A stack-allocated, column-major, 5x1 matrix.
-pub type Matrix5x1<N> = MatrixMN<N, U5, U1>;
+pub type Matrix5x1<N> = Matrix<N, U5, U1, Owned<N, U5, U1>>;
 /// A stack-allocated, column-major, 6x1 matrix.
-pub type Matrix6x1<N> = MatrixMN<N, U6, U1>;
+pub type Matrix6x1<N> = Matrix<N, U6, U1, Owned<N, U6, U1>>;
 
 /// A stack-allocated, column-major, 3x2 matrix.
-pub type Matrix3x2<N> = MatrixMN<N, U3, U2>;
+pub type Matrix3x2<N> = Matrix<N, U3, U2, Owned<N, U3, U2>>;
 /// A stack-allocated, column-major, 4x2 matrix.
-pub type Matrix4x2<N> = MatrixMN<N, U4, U2>;
+pub type Matrix4x2<N> = Matrix<N, U4, U2, Owned<N, U4, U2>>;
 /// A stack-allocated, column-major, 5x2 matrix.
-pub type Matrix5x2<N> = MatrixMN<N, U5, U2>;
+pub type Matrix5x2<N> = Matrix<N, U5, U2, Owned<N, U5, U2>>;
 /// A stack-allocated, column-major, 6x2 matrix.
-pub type Matrix6x2<N> = MatrixMN<N, U6, U2>;
+pub type Matrix6x2<N> = Matrix<N, U6, U2, Owned<N, U6, U2>>;
 
 /// A stack-allocated, column-major, 4x3 matrix.
-pub type Matrix4x3<N> = MatrixMN<N, U4, U3>;
+pub type Matrix4x3<N> = Matrix<N, U4, U3, Owned<N, U4, U3>>;
 /// A stack-allocated, column-major, 5x3 matrix.
-pub type Matrix5x3<N> = MatrixMN<N, U5, U3>;
+pub type Matrix5x3<N> = Matrix<N, U5, U3, Owned<N, U5, U3>>;
 /// A stack-allocated, column-major, 6x3 matrix.
-pub type Matrix6x3<N> = MatrixMN<N, U6, U3>;
+pub type Matrix6x3<N> = Matrix<N, U6, U3, Owned<N, U6, U3>>;
 
 /// A stack-allocated, column-major, 5x4 matrix.
-pub type Matrix5x4<N> = MatrixMN<N, U5, U4>;
+pub type Matrix5x4<N> = Matrix<N, U5, U4, Owned<N, U5, U4>>;
 /// A stack-allocated, column-major, 6x4 matrix.
-pub type Matrix6x4<N> = MatrixMN<N, U6, U4>;
+pub type Matrix6x4<N> = Matrix<N, U6, U4, Owned<N, U6, U4>>;
 
 /// A stack-allocated, column-major, 6x5 matrix.
-pub type Matrix6x5<N> = MatrixMN<N, U6, U5>;
+pub type Matrix6x5<N> = Matrix<N, U6, U5, Owned<N, U6, U5>>;
 
 /*
  *
@@ -122,20 +160,20 @@ pub type Matrix6x5<N> = MatrixMN<N, U6, U5>;
 pub type DVector<N> = Matrix<N, Dynamic, U1, VecStorage<N, Dynamic, U1>>;
 
 /// A statically sized D-dimensional column vector.
-pub type VectorN<N, D> = MatrixMN<N, D, U1>;
+pub type VectorN<N, D> = Matrix<N, D, U1, Owned<N, D, U1>>;
 
 /// A stack-allocated, 1-dimensional column vector.
-pub type Vector1<N> = VectorN<N, U1>;
+pub type Vector1<N> = Matrix<N, U1, U1, Owned<N, U1, U1>>;
 /// A stack-allocated, 2-dimensional column vector.
-pub type Vector2<N> = VectorN<N, U2>;
+pub type Vector2<N> = Matrix<N, U2, U1, Owned<N, U2, U1>>;
 /// A stack-allocated, 3-dimensional column vector.
-pub type Vector3<N> = VectorN<N, U3>;
+pub type Vector3<N> = Matrix<N, U3, U1, Owned<N, U3, U1>>;
 /// A stack-allocated, 4-dimensional column vector.
-pub type Vector4<N> = VectorN<N, U4>;
+pub type Vector4<N> = Matrix<N, U4, U1, Owned<N, U4, U1>>;
 /// A stack-allocated, 5-dimensional column vector.
-pub type Vector5<N> = VectorN<N, U5>;
+pub type Vector5<N> = Matrix<N, U5, U1, Owned<N, U5, U1>>;
 /// A stack-allocated, 6-dimensional column vector.
-pub type Vector6<N> = VectorN<N, U6>;
+pub type Vector6<N> = Matrix<N, U6, U1, Owned<N, U6, U1>>;
 
 /*
  *
@@ -149,17 +187,17 @@ pub type Vector6<N> = VectorN<N, U6>;
 pub type RowDVector<N> = Matrix<N, U1, Dynamic, VecStorage<N, U1, Dynamic>>;
 
 /// A statically sized D-dimensional row vector.
-pub type RowVectorN<N, D> = MatrixMN<N, U1, D>;
+pub type RowVectorN<N, D> = Matrix<N, U1, D, Owned<N, U1, D>>;
 
 /// A stack-allocated, 1-dimensional row vector.
-pub type RowVector1<N> = RowVectorN<N, U1>;
+pub type RowVector1<N> = Matrix<N, U1, U1, Owned<N, U1, U1>>;
 /// A stack-allocated, 2-dimensional row vector.
-pub type RowVector2<N> = RowVectorN<N, U2>;
+pub type RowVector2<N> = Matrix<N, U1, U2, Owned<N, U1, U2>>;
 /// A stack-allocated, 3-dimensional row vector.
-pub type RowVector3<N> = RowVectorN<N, U3>;
+pub type RowVector3<N> = Matrix<N, U1, U3, Owned<N, U1, U3>>;
 /// A stack-allocated, 4-dimensional row vector.
-pub type RowVector4<N> = RowVectorN<N, U4>;
+pub type RowVector4<N> = Matrix<N, U1, U4, Owned<N, U1, U4>>;
 /// A stack-allocated, 5-dimensional row vector.
-pub type RowVector5<N> = RowVectorN<N, U5>;
+pub type RowVector5<N> = Matrix<N, U1, U5, Owned<N, U1, U5>>;
 /// A stack-allocated, 6-dimensional row vector.
-pub type RowVector6<N> = RowVectorN<N, U6>;
+pub type RowVector6<N> = Matrix<N, U1, U6, Owned<N, U1, U6>>;

src/base/alias_slice.rs

@@ -15,164 +15,164 @@ pub type MatrixSliceMN<'a, N, R, C, RStride = U1, CStride = R> =
 
 /// A column-major matrix slice with `D` rows and columns.
 pub type MatrixSliceN<'a, N, D, RStride = U1, CStride = D> =
-    MatrixSliceMN<'a, N, D, D, RStride, CStride>;
+    Matrix<N, D, D, SliceStorage<'a, N, D, D, RStride, CStride>>;
 
 /// A column-major matrix slice dynamic numbers of rows and columns.
 pub type DMatrixSlice<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceN<'a, N, Dynamic, RStride, CStride>;
+    Matrix<N, Dynamic, Dynamic, SliceStorage<'a, N, Dynamic, Dynamic, RStride, CStride>>;
 
 /// A column-major 1x1 matrix slice.
 pub type MatrixSlice1<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceN<'a, N, U1, RStride, CStride>;
+    Matrix<N, U1, U1, SliceStorage<'a, N, U1, U1, RStride, CStride>>;
 /// A column-major 2x2 matrix slice.
 pub type MatrixSlice2<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceN<'a, N, U2, RStride, CStride>;
+    Matrix<N, U2, U2, SliceStorage<'a, N, U2, U2, RStride, CStride>>;
 /// A column-major 3x3 matrix slice.
 pub type MatrixSlice3<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceN<'a, N, U3, RStride, CStride>;
+    Matrix<N, U3, U3, SliceStorage<'a, N, U3, U3, RStride, CStride>>;
 /// A column-major 4x4 matrix slice.
 pub type MatrixSlice4<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceN<'a, N, U4, RStride, CStride>;
+    Matrix<N, U4, U4, SliceStorage<'a, N, U4, U4, RStride, CStride>>;
 /// A column-major 5x5 matrix slice.
 pub type MatrixSlice5<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceN<'a, N, U5, RStride, CStride>;
+    Matrix<N, U5, U5, SliceStorage<'a, N, U5, U5, RStride, CStride>>;
 /// A column-major 6x6 matrix slice.
 pub type MatrixSlice6<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceN<'a, N, U6, RStride, CStride>;
+    Matrix<N, U6, U6, SliceStorage<'a, N, U6, U6, RStride, CStride>>;
 
 /// A column-major 1x2 matrix slice.
 pub type MatrixSlice1x2<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMN<'a, N, U1, U2, RStride, CStride>;
+    Matrix<N, U1, U2, SliceStorage<'a, N, U1, U2, RStride, CStride>>;
 /// A column-major 1x3 matrix slice.
 pub type MatrixSlice1x3<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMN<'a, N, U1, U3, RStride, CStride>;
+    Matrix<N, U1, U3, SliceStorage<'a, N, U1, U3, RStride, CStride>>;
 /// A column-major 1x4 matrix slice.
 pub type MatrixSlice1x4<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMN<'a, N, U1, U4, RStride, CStride>;
+    Matrix<N, U1, U4, SliceStorage<'a, N, U1, U4, RStride, CStride>>;
 /// A column-major 1x5 matrix slice.
 pub type MatrixSlice1x5<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMN<'a, N, U1, U5, RStride, CStride>;
+    Matrix<N, U1, U5, SliceStorage<'a, N, U1, U5, RStride, CStride>>;
 /// A column-major 1x6 matrix slice.
 pub type MatrixSlice1x6<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMN<'a, N, U1, U6, RStride, CStride>;
+    Matrix<N, U1, U6, SliceStorage<'a, N, U1, U6, RStride, CStride>>;
 
 /// A column-major 2x1 matrix slice.
 pub type MatrixSlice2x1<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMN<'a, N, U2, U1, RStride, CStride>;
+    Matrix<N, U2, U1, SliceStorage<'a, N, U2, U1, RStride, CStride>>;
 /// A column-major 2x3 matrix slice.
 pub type MatrixSlice2x3<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMN<'a, N, U2, U3, RStride, CStride>;
+    Matrix<N, U2, U3, SliceStorage<'a, N, U2, U3, RStride, CStride>>;
 /// A column-major 2x4 matrix slice.
 pub type MatrixSlice2x4<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMN<'a, N, U2, U4, RStride, CStride>;
+    Matrix<N, U2, U4, SliceStorage<'a, N, U2, U4, RStride, CStride>>;
 /// A column-major 2x5 matrix slice.
 pub type MatrixSlice2x5<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMN<'a, N, U2, U5, RStride, CStride>;
+    Matrix<N, U2, U5, SliceStorage<'a, N, U2, U5, RStride, CStride>>;
 /// A column-major 2x6 matrix slice.
 pub type MatrixSlice2x6<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMN<'a, N, U2, U6, RStride, CStride>;
+    Matrix<N, U2, U6, SliceStorage<'a, N, U2, U6, RStride, CStride>>;
 
 /// A column-major 3x1 matrix slice.
 pub type MatrixSlice3x1<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMN<'a, N, U3, U1, RStride, CStride>;
+    Matrix<N, U3, U1, SliceStorage<'a, N, U3, U1, RStride, CStride>>;
 /// A column-major 3x2 matrix slice.
 pub type MatrixSlice3x2<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMN<'a, N, U3, U2, RStride, CStride>;
+    Matrix<N, U3, U2, SliceStorage<'a, N, U3, U2, RStride, CStride>>;
 /// A column-major 3x4 matrix slice.
 pub type MatrixSlice3x4<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMN<'a, N, U3, U4, RStride, CStride>;
+    Matrix<N, U3, U4, SliceStorage<'a, N, U3, U4, RStride, CStride>>;
 /// A column-major 3x5 matrix slice.
 pub type MatrixSlice3x5<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMN<'a, N, U3, U5, RStride, CStride>;
+    Matrix<N, U3, U5, SliceStorage<'a, N, U3, U5, RStride, CStride>>;
 /// A column-major 3x6 matrix slice.
 pub type MatrixSlice3x6<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMN<'a, N, U3, U6, RStride, CStride>;
+    Matrix<N, U3, U6, SliceStorage<'a, N, U3, U6, RStride, CStride>>;
 
 /// A column-major 4x1 matrix slice.
 pub type MatrixSlice4x1<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMN<'a, N, U4, U1, RStride, CStride>;
+    Matrix<N, U4, U1, SliceStorage<'a, N, U4, U1, RStride, CStride>>;
 /// A column-major 4x2 matrix slice.
 pub type MatrixSlice4x2<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMN<'a, N, U4, U2, RStride, CStride>;
+    Matrix<N, U4, U2, SliceStorage<'a, N, U4, U2, RStride, CStride>>;
 /// A column-major 4x3 matrix slice.
 pub type MatrixSlice4x3<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMN<'a, N, U4, U3, RStride, CStride>;
+    Matrix<N, U4, U3, SliceStorage<'a, N, U4, U3, RStride, CStride>>;
 /// A column-major 4x5 matrix slice.
 pub type MatrixSlice4x5<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMN<'a, N, U4, U5, RStride, CStride>;
+    Matrix<N, U4, U5, SliceStorage<'a, N, U4, U5, RStride, CStride>>;
 /// A column-major 4x6 matrix slice.
 pub type MatrixSlice4x6<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMN<'a, N, U4, U6, RStride, CStride>;
+    Matrix<N, U4, U6, SliceStorage<'a, N, U4, U6, RStride, CStride>>;
 
 /// A column-major 5x1 matrix slice.
 pub type MatrixSlice5x1<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMN<'a, N, U5, U1, RStride, CStride>;
+    Matrix<N, U5, U1, SliceStorage<'a, N, U5, U1, RStride, CStride>>;
 /// A column-major 5x2 matrix slice.
 pub type MatrixSlice5x2<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMN<'a, N, U5, U2, RStride, CStride>;
+    Matrix<N, U5, U2, SliceStorage<'a, N, U5, U2, RStride, CStride>>;
 /// A column-major 5x3 matrix slice.
 pub type MatrixSlice5x3<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMN<'a, N, U5, U3, RStride, CStride>;
+    Matrix<N, U5, U3, SliceStorage<'a, N, U5, U3, RStride, CStride>>;
 /// A column-major 5x4 matrix slice.
 pub type MatrixSlice5x4<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMN<'a, N, U5, U4, RStride, CStride>;
+    Matrix<N, U5, U4, SliceStorage<'a, N, U5, U4, RStride, CStride>>;
 /// A column-major 5x6 matrix slice.
 pub type MatrixSlice5x6<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMN<'a, N, U5, U6, RStride, CStride>;
+    Matrix<N, U5, U6, SliceStorage<'a, N, U5, U6, RStride, CStride>>;
 
 /// A column-major 6x1 matrix slice.
 pub type MatrixSlice6x1<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMN<'a, N, U6, U1, RStride, CStride>;
+    Matrix<N, U6, U1, SliceStorage<'a, N, U6, U1, RStride, CStride>>;
 /// A column-major 6x2 matrix slice.
 pub type MatrixSlice6x2<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMN<'a, N, U6, U2, RStride, CStride>;
+    Matrix<N, U6, U2, SliceStorage<'a, N, U6, U2, RStride, CStride>>;
 /// A column-major 6x3 matrix slice.
 pub type MatrixSlice6x3<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMN<'a, N, U6, U3, RStride, CStride>;
+    Matrix<N, U6, U3, SliceStorage<'a, N, U6, U3, RStride, CStride>>;
 /// A column-major 6x4 matrix slice.
 pub type MatrixSlice6x4<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMN<'a, N, U6, U4, RStride, CStride>;
+    Matrix<N, U6, U4, SliceStorage<'a, N, U6, U4, RStride, CStride>>;
 /// A column-major 6x5 matrix slice.
 pub type MatrixSlice6x5<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMN<'a, N, U6, U6, RStride, CStride>;
+    Matrix<N, U6, U5, SliceStorage<'a, N, U6, U5, RStride, CStride>>;
 
 /// A column-major matrix slice with 1 row and a number of columns chosen at runtime.
 pub type MatrixSlice1xX<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMN<'a, N, U1, Dynamic, RStride, CStride>;
+    Matrix<N, U1, Dynamic, SliceStorage<'a, N, U1, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 2 rows and a number of columns chosen at runtime.
 pub type MatrixSlice2xX<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMN<'a, N, U2, Dynamic, RStride, CStride>;
+    Matrix<N, U2, Dynamic, SliceStorage<'a, N, U2, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 3 rows and a number of columns chosen at runtime.
 pub type MatrixSlice3xX<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMN<'a, N, U3, Dynamic, RStride, CStride>;
+    Matrix<N, U3, Dynamic, SliceStorage<'a, N, U3, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 4 rows and a number of columns chosen at runtime.
 pub type MatrixSlice4xX<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMN<'a, N, U4, Dynamic, RStride, CStride>;
+    Matrix<N, U4, Dynamic, SliceStorage<'a, N, U4, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 5 rows and a number of columns chosen at runtime.
 pub type MatrixSlice5xX<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMN<'a, N, U5, Dynamic, RStride, CStride>;
+    Matrix<N, U5, Dynamic, SliceStorage<'a, N, U5, Dynamic, RStride, CStride>>;
 /// A column-major matrix slice with 6 rows and a number of columns chosen at runtime.
 pub type MatrixSlice6xX<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMN<'a, N, U6, Dynamic, RStride, CStride>;
+    Matrix<N, U6, Dynamic, SliceStorage<'a, N, U6, Dynamic, RStride, CStride>>;
 
 /// A column-major matrix slice with a number of rows chosen at runtime and 1 column.
 pub type MatrixSliceXx1<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMN<'a, N, Dynamic, U1, RStride, CStride>;
+    Matrix<N, Dynamic, U1, SliceStorage<'a, N, Dynamic, U1, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 2 columns.
 pub type MatrixSliceXx2<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMN<'a, N, Dynamic, U2, RStride, CStride>;
+    Matrix<N, Dynamic, U2, SliceStorage<'a, N, Dynamic, U2, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 3 columns.
 pub type MatrixSliceXx3<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMN<'a, N, Dynamic, U3, RStride, CStride>;
+    Matrix<N, Dynamic, U3, SliceStorage<'a, N, Dynamic, U3, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 4 columns.
 pub type MatrixSliceXx4<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMN<'a, N, Dynamic, U4, RStride, CStride>;
+    Matrix<N, Dynamic, U4, SliceStorage<'a, N, Dynamic, U4, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 5 columns.
 pub type MatrixSliceXx5<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMN<'a, N, Dynamic, U5, RStride, CStride>;
+    Matrix<N, Dynamic, U5, SliceStorage<'a, N, Dynamic, U5, RStride, CStride>>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 6 columns.
 pub type MatrixSliceXx6<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMN<'a, N, Dynamic, U6, RStride, CStride>;
+    Matrix<N, Dynamic, U6, SliceStorage<'a, N, Dynamic, U6, RStride, CStride>>;
 
 /// A column vector slice with `D` rows.
 pub type VectorSliceN<'a, N, D, RStride = U1, CStride = D> =
@@ -180,26 +180,26 @@ pub type VectorSliceN<'a, N, D, RStride = U1, CStride = D> =
 
 /// A column vector slice dynamic numbers of rows and columns.
 pub type DVectorSlice<'a, N, RStride = U1, CStride = Dynamic> =
-    VectorSliceN<'a, N, Dynamic, RStride, CStride>;
+    Matrix<N, Dynamic, U1, SliceStorage<'a, N, Dynamic, U1, RStride, CStride>>;
 
 /// A 1D column vector slice.
 pub type VectorSlice1<'a, N, RStride = U1, CStride = U1> =
-    VectorSliceN<'a, N, U1, RStride, CStride>;
+    Matrix<N, U1, U1, SliceStorage<'a, N, U1, U1, RStride, CStride>>;
 /// A 2D column vector slice.
 pub type VectorSlice2<'a, N, RStride = U1, CStride = U2> =
-    VectorSliceN<'a, N, U2, RStride, CStride>;
+    Matrix<N, U2, U1, SliceStorage<'a, N, U2, U1, RStride, CStride>>;
 /// A 3D column vector slice.
 pub type VectorSlice3<'a, N, RStride = U1, CStride = U3> =
-    VectorSliceN<'a, N, U3, RStride, CStride>;
+    Matrix<N, U3, U1, SliceStorage<'a, N, U3, U1, RStride, CStride>>;
 /// A 4D column vector slice.
 pub type VectorSlice4<'a, N, RStride = U1, CStride = U4> =
-    VectorSliceN<'a, N, U4, RStride, CStride>;
+    Matrix<N, U4, U1, SliceStorage<'a, N, U4, U1, RStride, CStride>>;
 /// A 5D column vector slice.
 pub type VectorSlice5<'a, N, RStride = U1, CStride = U5> =
-    VectorSliceN<'a, N, U5, RStride, CStride>;
+    Matrix<N, U5, U1, SliceStorage<'a, N, U5, U1, RStride, CStride>>;
 /// A 6D column vector slice.
 pub type VectorSlice6<'a, N, RStride = U1, CStride = U6> =
-    VectorSliceN<'a, N, U6, RStride, CStride>;
+    Matrix<N, U6, U1, SliceStorage<'a, N, U6, U1, RStride, CStride>>;
 
 /*
  *
@@ -208,194 +208,194 @@ pub type VectorSlice6<'a, N, RStride = U1, CStride = U6> =
  *
  *
  */
-/// A column-major mutable matrix slice with `R` rows and `C` columns.
+/// A column-major matrix slice with `R` rows and `C` columns.
 pub type MatrixSliceMutMN<'a, N, R, C, RStride = U1, CStride = R> =
     Matrix<N, R, C, SliceStorageMut<'a, N, R, C, RStride, CStride>>;
 
-/// A column-major mutable matrix slice with `D` rows and columns.
+/// A column-major matrix slice with `D` rows and columns.
 pub type MatrixSliceMutN<'a, N, D, RStride = U1, CStride = D> =
-    MatrixSliceMutMN<'a, N, D, D, RStride, CStride>;
+    Matrix<N, D, D, SliceStorageMut<'a, N, D, D, RStride, CStride>>;
 
-/// A column-major mutable matrix slice dynamic numbers of rows and columns.
+/// A column-major matrix slice dynamic numbers of rows and columns.
 pub type DMatrixSliceMut<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMutN<'a, N, Dynamic, RStride, CStride>;
+    Matrix<N, Dynamic, Dynamic, SliceStorageMut<'a, N, Dynamic, Dynamic, RStride, CStride>>;
 
-/// A column-major 1x1 mutable matrix slice.
+/// A column-major 1x1 matrix slice.
 pub type MatrixSliceMut1<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMutN<'a, N, U1, RStride, CStride>;
+    Matrix<N, U1, U1, SliceStorageMut<'a, N, U1, U1, RStride, CStride>>;
-/// A column-major 2x2 mutable matrix slice.
+/// A column-major 2x2 matrix slice.
 pub type MatrixSliceMut2<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMutN<'a, N, U2, RStride, CStride>;
+    Matrix<N, U2, U2, SliceStorageMut<'a, N, U2, U2, RStride, CStride>>;
-/// A column-major 3x3 mutable matrix slice.
+/// A column-major 3x3 matrix slice.
 pub type MatrixSliceMut3<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMutN<'a, N, U3, RStride, CStride>;
+    Matrix<N, U3, U3, SliceStorageMut<'a, N, U3, U3, RStride, CStride>>;
-/// A column-major 4x4 mutable matrix slice.
+/// A column-major 4x4 matrix slice.
 pub type MatrixSliceMut4<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMutN<'a, N, U4, RStride, CStride>;
+    Matrix<N, U4, U4, SliceStorageMut<'a, N, U4, U4, RStride, CStride>>;
-/// A column-major 5x5 mutable matrix slice.
+/// A column-major 5x5 matrix slice.
 pub type MatrixSliceMut5<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMutN<'a, N, U5, RStride, CStride>;
+    Matrix<N, U5, U5, SliceStorageMut<'a, N, U5, U5, RStride, CStride>>;
-/// A column-major 6x6 mutable matrix slice.
+/// A column-major 6x6 matrix slice.
 pub type MatrixSliceMut6<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMutN<'a, N, U6, RStride, CStride>;
+    Matrix<N, U6, U6, SliceStorageMut<'a, N, U6, U6, RStride, CStride>>;
 
-/// A column-major 1x2 mutable matrix slice.
+/// A column-major 1x2 matrix slice.
 pub type MatrixSliceMut1x2<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMutMN<'a, N, U1, U2, RStride, CStride>;
+    Matrix<N, U1, U2, SliceStorageMut<'a, N, U1, U2, RStride, CStride>>;
-/// A column-major 1x3 mutable matrix slice.
+/// A column-major 1x3 matrix slice.
 pub type MatrixSliceMut1x3<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMutMN<'a, N, U1, U3, RStride, CStride>;
+    Matrix<N, U1, U3, SliceStorageMut<'a, N, U1, U3, RStride, CStride>>;
-/// A column-major 1x4 mutable matrix slice.
+/// A column-major 1x4 matrix slice.
 pub type MatrixSliceMut1x4<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMutMN<'a, N, U1, U4, RStride, CStride>;
+    Matrix<N, U1, U4, SliceStorageMut<'a, N, U1, U4, RStride, CStride>>;
-/// A column-major 1x5 mutable matrix slice.
+/// A column-major 1x5 matrix slice.
 pub type MatrixSliceMut1x5<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMutMN<'a, N, U1, U5, RStride, CStride>;
+    Matrix<N, U1, U5, SliceStorageMut<'a, N, U1, U5, RStride, CStride>>;
-/// A column-major 1x6 mutable matrix slice.
+/// A column-major 1x6 matrix slice.
 pub type MatrixSliceMut1x6<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMutMN<'a, N, U1, U6, RStride, CStride>;
+    Matrix<N, U1, U6, SliceStorageMut<'a, N, U1, U6, RStride, CStride>>;
 
-/// A column-major 2x1 mutable matrix slice.
+/// A column-major 2x1 matrix slice.
 pub type MatrixSliceMut2x1<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMutMN<'a, N, U2, U1, RStride, CStride>;
+    Matrix<N, U2, U1, SliceStorageMut<'a, N, U2, U1, RStride, CStride>>;
-/// A column-major 2x3 mutable matrix slice.
+/// A column-major 2x3 matrix slice.
 pub type MatrixSliceMut2x3<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMutMN<'a, N, U2, U3, RStride, CStride>;
+    Matrix<N, U2, U3, SliceStorageMut<'a, N, U2, U3, RStride, CStride>>;
-/// A column-major 2x4 mutable matrix slice.
+/// A column-major 2x4 matrix slice.
 pub type MatrixSliceMut2x4<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMutMN<'a, N, U2, U4, RStride, CStride>;
+    Matrix<N, U2, U4, SliceStorageMut<'a, N, U2, U4, RStride, CStride>>;
-/// A column-major 2x5 mutable matrix slice.
+/// A column-major 2x5 matrix slice.
 pub type MatrixSliceMut2x5<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMutMN<'a, N, U2, U5, RStride, CStride>;
+    Matrix<N, U2, U5, SliceStorageMut<'a, N, U2, U5, RStride, CStride>>;
-/// A column-major 2x6 mutable matrix slice.
+/// A column-major 2x6 matrix slice.
 pub type MatrixSliceMut2x6<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMutMN<'a, N, U2, U6, RStride, CStride>;
+    Matrix<N, U2, U6, SliceStorageMut<'a, N, U2, U6, RStride, CStride>>;
 
-/// A column-major 3x1 mutable matrix slice.
+/// A column-major 3x1 matrix slice.
 pub type MatrixSliceMut3x1<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMutMN<'a, N, U3, U1, RStride, CStride>;
+    Matrix<N, U3, U1, SliceStorageMut<'a, N, U3, U1, RStride, CStride>>;
-/// A column-major 3x2 mutable matrix slice.
+/// A column-major 3x2 matrix slice.
 pub type MatrixSliceMut3x2<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMutMN<'a, N, U3, U2, RStride, CStride>;
+    Matrix<N, U3, U2, SliceStorageMut<'a, N, U3, U2, RStride, CStride>>;
-/// A column-major 3x4 mutable matrix slice.
+/// A column-major 3x4 matrix slice.
 pub type MatrixSliceMut3x4<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMutMN<'a, N, U3, U4, RStride, CStride>;
+    Matrix<N, U3, U4, SliceStorageMut<'a, N, U3, U4, RStride, CStride>>;
-/// A column-major 3x5 mutable matrix slice.
+/// A column-major 3x5 matrix slice.
 pub type MatrixSliceMut3x5<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMutMN<'a, N, U3, U5, RStride, CStride>;
+    Matrix<N, U3, U5, SliceStorageMut<'a, N, U3, U5, RStride, CStride>>;
-/// A column-major 3x6 mutable matrix slice.
+/// A column-major 3x6 matrix slice.
 pub type MatrixSliceMut3x6<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMutMN<'a, N, U3, U6, RStride, CStride>;
+    Matrix<N, U3, U6, SliceStorageMut<'a, N, U3, U6, RStride, CStride>>;
 
-/// A column-major 4x1 mutable matrix slice.
+/// A column-major 4x1 matrix slice.
 pub type MatrixSliceMut4x1<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMutMN<'a, N, U4, U1, RStride, CStride>;
+    Matrix<N, U4, U1, SliceStorageMut<'a, N, U4, U1, RStride, CStride>>;
-/// A column-major 4x2 mutable matrix slice.
+/// A column-major 4x2 matrix slice.
 pub type MatrixSliceMut4x2<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMutMN<'a, N, U4, U2, RStride, CStride>;
+    Matrix<N, U4, U2, SliceStorageMut<'a, N, U4, U2, RStride, CStride>>;
-/// A column-major 4x3 mutable matrix slice.
+/// A column-major 4x3 matrix slice.
 pub type MatrixSliceMut4x3<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMutMN<'a, N, U4, U3, RStride, CStride>;
+    Matrix<N, U4, U3, SliceStorageMut<'a, N, U4, U3, RStride, CStride>>;
-/// A column-major 4x5 mutable matrix slice.
+/// A column-major 4x5 matrix slice.
 pub type MatrixSliceMut4x5<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMutMN<'a, N, U4, U5, RStride, CStride>;
+    Matrix<N, U4, U5, SliceStorageMut<'a, N, U4, U5, RStride, CStride>>;
-/// A column-major 4x6 mutable matrix slice.
+/// A column-major 4x6 matrix slice.
 pub type MatrixSliceMut4x6<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMutMN<'a, N, U4, U6, RStride, CStride>;
+    Matrix<N, U4, U6, SliceStorageMut<'a, N, U4, U6, RStride, CStride>>;
 
-/// A column-major 5x1 mutable matrix slice.
+/// A column-major 5x1 matrix slice.
 pub type MatrixSliceMut5x1<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMutMN<'a, N, U5, U1, RStride, CStride>;
+    Matrix<N, U5, U1, SliceStorageMut<'a, N, U5, U1, RStride, CStride>>;
-/// A column-major 5x2 mutable matrix slice.
+/// A column-major 5x2 matrix slice.
 pub type MatrixSliceMut5x2<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMutMN<'a, N, U5, U2, RStride, CStride>;
+    Matrix<N, U5, U2, SliceStorageMut<'a, N, U5, U2, RStride, CStride>>;
-/// A column-major 5x3 mutable matrix slice.
+/// A column-major 5x3 matrix slice.
 pub type MatrixSliceMut5x3<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMutMN<'a, N, U5, U3, RStride, CStride>;
+    Matrix<N, U5, U3, SliceStorageMut<'a, N, U5, U3, RStride, CStride>>;
-/// A column-major 5x4 mutable matrix slice.
+/// A column-major 5x4 matrix slice.
 pub type MatrixSliceMut5x4<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMutMN<'a, N, U5, U4, RStride, CStride>;
+    Matrix<N, U5, U4, SliceStorageMut<'a, N, U5, U4, RStride, CStride>>;
-/// A column-major 5x6 mutable matrix slice.
+/// A column-major 5x6 matrix slice.
 pub type MatrixSliceMut5x6<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMutMN<'a, N, U5, U6, RStride, CStride>;
+    Matrix<N, U5, U6, SliceStorageMut<'a, N, U5, U6, RStride, CStride>>;
 
-/// A column-major 6x1 mutable matrix slice.
+/// A column-major 6x1 matrix slice.
 pub type MatrixSliceMut6x1<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMutMN<'a, N, U6, U1, RStride, CStride>;
+    Matrix<N, U6, U1, SliceStorageMut<'a, N, U6, U1, RStride, CStride>>;
-/// A column-major 6x2 mutable matrix slice.
+/// A column-major 6x2 matrix slice.
 pub type MatrixSliceMut6x2<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMutMN<'a, N, U6, U2, RStride, CStride>;
+    Matrix<N, U6, U2, SliceStorageMut<'a, N, U6, U2, RStride, CStride>>;
-/// A column-major 6x3 mutable matrix slice.
+/// A column-major 6x3 matrix slice.
 pub type MatrixSliceMut6x3<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMutMN<'a, N, U6, U3, RStride, CStride>;
+    Matrix<N, U6, U3, SliceStorageMut<'a, N, U6, U3, RStride, CStride>>;
-/// A column-major 6x4 mutable matrix slice.
+/// A column-major 6x4 matrix slice.
 pub type MatrixSliceMut6x4<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMutMN<'a, N, U6, U4, RStride, CStride>;
+    Matrix<N, U6, U4, SliceStorageMut<'a, N, U6, U4, RStride, CStride>>;
-/// A column-major 6x5 mutable matrix slice.
+/// A column-major 6x5 matrix slice.
 pub type MatrixSliceMut6x5<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMutMN<'a, N, U6, U5, RStride, CStride>;
+    Matrix<N, U6, U5, SliceStorageMut<'a, N, U6, U5, RStride, CStride>>;
 
-/// A column-major mutable matrix slice with 1 row and a number of columns chosen at runtime.
+/// A column-major matrix slice with 1 row and a number of columns chosen at runtime.
 pub type MatrixSliceMut1xX<'a, N, RStride = U1, CStride = U1> =
-    MatrixSliceMutMN<'a, N, U1, Dynamic, RStride, CStride>;
+    Matrix<N, U1, Dynamic, SliceStorageMut<'a, N, U1, Dynamic, RStride, CStride>>;
-/// A column-major mutable matrix slice with 2 rows and a number of columns chosen at runtime.
+/// A column-major matrix slice with 2 rows and a number of columns chosen at runtime.
 pub type MatrixSliceMut2xX<'a, N, RStride = U1, CStride = U2> =
-    MatrixSliceMutMN<'a, N, U2, Dynamic, RStride, CStride>;
+    Matrix<N, U2, Dynamic, SliceStorageMut<'a, N, U2, Dynamic, RStride, CStride>>;
-/// A column-major mutable matrix slice with 3 rows and a number of columns chosen at runtime.
+/// A column-major matrix slice with 3 rows and a number of columns chosen at runtime.
 pub type MatrixSliceMut3xX<'a, N, RStride = U1, CStride = U3> =
-    MatrixSliceMutMN<'a, N, U3, Dynamic, RStride, CStride>;
+    Matrix<N, U3, Dynamic, SliceStorageMut<'a, N, U3, Dynamic, RStride, CStride>>;
-/// A column-major mutable matrix slice with 4 rows and a number of columns chosen at runtime.
+/// A column-major matrix slice with 4 rows and a number of columns chosen at runtime.
 pub type MatrixSliceMut4xX<'a, N, RStride = U1, CStride = U4> =
-    MatrixSliceMutMN<'a, N, U4, Dynamic, RStride, CStride>;
+    Matrix<N, U4, Dynamic, SliceStorageMut<'a, N, U4, Dynamic, RStride, CStride>>;
-/// A column-major mutable matrix slice with 5 rows and a number of columns chosen at runtime.
+/// A column-major matrix slice with 5 rows and a number of columns chosen at runtime.
 pub type MatrixSliceMut5xX<'a, N, RStride = U1, CStride = U5> =
-    MatrixSliceMutMN<'a, N, U5, Dynamic, RStride, CStride>;
+    Matrix<N, U5, Dynamic, SliceStorageMut<'a, N, U5, Dynamic, RStride, CStride>>;
-/// A column-major mutable matrix slice with 6 rows and a number of columns chosen at runtime.
+/// A column-major matrix slice with 6 rows and a number of columns chosen at runtime.
 pub type MatrixSliceMut6xX<'a, N, RStride = U1, CStride = U6> =
-    MatrixSliceMutMN<'a, N, U6, Dynamic, RStride, CStride>;
+    Matrix<N, U6, Dynamic, SliceStorageMut<'a, N, U6, Dynamic, RStride, CStride>>;
 
-/// A column-major mutable matrix slice with a number of rows chosen at runtime and 1 column.
+/// A column-major matrix slice with a number of rows chosen at runtime and 1 column.
 pub type MatrixSliceMutXx1<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMutMN<'a, N, Dynamic, U1, RStride, CStride>;
+    Matrix<N, Dynamic, U1, SliceStorageMut<'a, N, Dynamic, U1, RStride, CStride>>;
-/// A column-major mutable matrix slice with a number of rows chosen at runtime and 2 columns.
+/// A column-major matrix slice with a number of rows chosen at runtime and 2 columns.
 pub type MatrixSliceMutXx2<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMutMN<'a, N, Dynamic, U2, RStride, CStride>;
+    Matrix<N, Dynamic, U2, SliceStorageMut<'a, N, Dynamic, U2, RStride, CStride>>;
-/// A column-major mutable matrix slice with a number of rows chosen at runtime and 3 columns.
+/// A column-major matrix slice with a number of rows chosen at runtime and 3 columns.
 pub type MatrixSliceMutXx3<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMutMN<'a, N, Dynamic, U3, RStride, CStride>;
+    Matrix<N, Dynamic, U3, SliceStorageMut<'a, N, Dynamic, U3, RStride, CStride>>;
-/// A column-major mutable matrix slice with a number of rows chosen at runtime and 4 columns.
+/// A column-major matrix slice with a number of rows chosen at runtime and 4 columns.
 pub type MatrixSliceMutXx4<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMutMN<'a, N, Dynamic, U4, RStride, CStride>;
+    Matrix<N, Dynamic, U4, SliceStorageMut<'a, N, Dynamic, U4, RStride, CStride>>;
-/// A column-major mutable matrix slice with a number of rows chosen at runtime and 5 columns.
+/// A column-major matrix slice with a number of rows chosen at runtime and 5 columns.
 pub type MatrixSliceMutXx5<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMutMN<'a, N, Dynamic, U5, RStride, CStride>;
+    Matrix<N, Dynamic, U5, SliceStorageMut<'a, N, Dynamic, U5, RStride, CStride>>;
-/// A column-major mutable matrix slice with a number of rows chosen at runtime and 6 columns.
+/// A column-major matrix slice with a number of rows chosen at runtime and 6 columns.
 pub type MatrixSliceMutXx6<'a, N, RStride = U1, CStride = Dynamic> =
-    MatrixSliceMutMN<'a, N, Dynamic, U6, RStride, CStride>;
+    Matrix<N, Dynamic, U6, SliceStorageMut<'a, N, Dynamic, U6, RStride, CStride>>;
 
-/// A mutable column vector slice with `D` rows.
+/// A column vector slice with `D` rows.
 pub type VectorSliceMutN<'a, N, D, RStride = U1, CStride = D> =
     Matrix<N, D, U1, SliceStorageMut<'a, N, D, U1, RStride, CStride>>;
 
-/// A mutable column vector slice dynamic numbers of rows and columns.
+/// A column vector slice dynamic numbers of rows and columns.
 pub type DVectorSliceMut<'a, N, RStride = U1, CStride = Dynamic> =
-    VectorSliceMutN<'a, N, Dynamic, RStride, CStride>;
+    Matrix<N, Dynamic, U1, SliceStorageMut<'a, N, Dynamic, U1, RStride, CStride>>;
 
-/// A 1D mutable column vector slice.
+/// A 1D column vector slice.
 pub type VectorSliceMut1<'a, N, RStride = U1, CStride = U1> =
-    VectorSliceMutN<'a, N, U1, RStride, CStride>;
+    Matrix<N, U1, U1, SliceStorageMut<'a, N, U1, U1, RStride, CStride>>;
-/// A 2D mutable column vector slice.
+/// A 2D column vector slice.
 pub type VectorSliceMut2<'a, N, RStride = U1, CStride = U2> =
-    VectorSliceMutN<'a, N, U2, RStride, CStride>;
+    Matrix<N, U2, U1, SliceStorageMut<'a, N, U2, U1, RStride, CStride>>;
-/// A 3D mutable column vector slice.
+/// A 3D column vector slice.
 pub type VectorSliceMut3<'a, N, RStride = U1, CStride = U3> =
-    VectorSliceMutN<'a, N, U3, RStride, CStride>;
+    Matrix<N, U3, U1, SliceStorageMut<'a, N, U3, U1, RStride, CStride>>;
-/// A 4D mutable column vector slice.
+/// A 4D column vector slice.
 pub type VectorSliceMut4<'a, N, RStride = U1, CStride = U4> =
-    VectorSliceMutN<'a, N, U4, RStride, CStride>;
+    Matrix<N, U4, U1, SliceStorageMut<'a, N, U4, U1, RStride, CStride>>;
-/// A 5D mutable column vector slice.
+/// A 5D column vector slice.
 pub type VectorSliceMut5<'a, N, RStride = U1, CStride = U5> =
-    VectorSliceMutN<'a, N, U5, RStride, CStride>;
+    Matrix<N, U5, U1, SliceStorageMut<'a, N, U5, U1, RStride, CStride>>;
-/// A 6D mutable column vector slice.
+/// A 6D column vector slice.
 pub type VectorSliceMut6<'a, N, RStride = U1, CStride = U6> =
-    VectorSliceMutN<'a, N, U6, RStride, CStride>;
+    Matrix<N, U6, U1, SliceStorageMut<'a, N, U6, U1, RStride, CStride>>;

src/base/allocator.rs

@@ -56,7 +56,7 @@ pub type SameShapeR<R1, R2> = <ShapeConstraint as SameNumberOfRows<R1, R2>>::Rep
 /// The number of columns of the result of a componentwise operation on two matrices.
 pub type SameShapeC<C1, C2> = <ShapeConstraint as SameNumberOfColumns<C1, C2>>::Representative;
 
-// FIXME: Bad name.
+// TODO: Bad name.
 /// Restricts the given number of rows and columns to be respectively the same.
 pub trait SameShapeAllocator<N, R1, C1, R2, C2>:
     Allocator<N, R1, C1> + Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>

src/base/blas.rs

@@ -16,258 +16,7 @@ use crate::base::{
     DVectorSlice, DefaultAllocator, Matrix, Scalar, SquareMatrix, Vector, VectorSliceN,
 };
 
-// FIXME: find a way to avoid code duplication just for complex number support.
+/// # Dot/scalar product
-impl<N: ComplexField, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
-    /// Computes the index of the vector component with the largest complex or real absolute value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # extern crate num_complex;
-    /// # extern crate nalgebra;
-    /// # use num_complex::Complex;
-    /// # use nalgebra::Vector3;
-    /// let vec = Vector3::new(Complex::new(11.0, 3.0), Complex::new(-15.0, 0.0), Complex::new(13.0, 5.0));
-    /// assert_eq!(vec.icamax(), 2);
-    /// ```
-    #[inline]
-    pub fn icamax(&self) -> usize {
-        assert!(!self.is_empty(), "The input vector must not be empty.");
-
-        let mut the_max = unsafe { self.vget_unchecked(0).norm1() };
-        let mut the_i = 0;
-
-        for i in 1..self.nrows() {
-            let val = unsafe { self.vget_unchecked(i).norm1() };
-
-            if val > the_max {
-                the_max = val;
-                the_i = i;
-            }
-        }
-
-        the_i
-    }
-}
-
-impl<N: Scalar + PartialOrd, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
-    /// Computes the index and value of the vector component with the largest value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// let vec = Vector3::new(11, -15, 13);
-    /// assert_eq!(vec.argmax(), (2, 13));
-    /// ```
-    #[inline]
-    pub fn argmax(&self) -> (usize, N) {
-        assert!(!self.is_empty(), "The input vector must not be empty.");
-
-        let mut the_max = unsafe { self.vget_unchecked(0) };
-        let mut the_i = 0;
-
-        for i in 1..self.nrows() {
-            let val = unsafe { self.vget_unchecked(i) };
-
-            if val > the_max {
-                the_max = val;
-                the_i = i;
-            }
-        }
-
-        (the_i, the_max.inlined_clone())
-    }
-
-    /// Computes the index of the vector component with the largest value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// let vec = Vector3::new(11, -15, 13);
-    /// assert_eq!(vec.imax(), 2);
-    /// ```
-    #[inline]
-    pub fn imax(&self) -> usize {
-        self.argmax().0
-    }
-
-    /// Computes the index of the vector component with the largest absolute value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// let vec = Vector3::new(11, -15, 13);
-    /// assert_eq!(vec.iamax(), 1);
-    /// ```
-    #[inline]
-    pub fn iamax(&self) -> usize
-    where
-        N: Signed,
-    {
-        assert!(!self.is_empty(), "The input vector must not be empty.");
-
-        let mut the_max = unsafe { self.vget_unchecked(0).abs() };
-        let mut the_i = 0;
-
-        for i in 1..self.nrows() {
-            let val = unsafe { self.vget_unchecked(i).abs() };
-
-            if val > the_max {
-                the_max = val;
-                the_i = i;
-            }
-        }
-
-        the_i
-    }
-
-    /// Computes the index and value of the vector component with the smallest value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// let vec = Vector3::new(11, -15, 13);
-    /// assert_eq!(vec.argmin(), (1, -15));
-    /// ```
-    #[inline]
-    pub fn argmin(&self) -> (usize, N) {
-        assert!(!self.is_empty(), "The input vector must not be empty.");
-
-        let mut the_min = unsafe { self.vget_unchecked(0) };
-        let mut the_i = 0;
-
-        for i in 1..self.nrows() {
-            let val = unsafe { self.vget_unchecked(i) };
-
-            if val < the_min {
-                the_min = val;
-                the_i = i;
-            }
-        }
-
-        (the_i, the_min.inlined_clone())
-    }
-
-    /// Computes the index of the vector component with the smallest value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// let vec = Vector3::new(11, -15, 13);
-    /// assert_eq!(vec.imin(), 1);
-    /// ```
-    #[inline]
-    pub fn imin(&self) -> usize {
-        self.argmin().0
-    }
-
-    /// Computes the index of the vector component with the smallest absolute value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// let vec = Vector3::new(11, -15, 13);
-    /// assert_eq!(vec.iamin(), 0);
-    /// ```
-    #[inline]
-    pub fn iamin(&self) -> usize
-    where
-        N: Signed,
-    {
-        assert!(!self.is_empty(), "The input vector must not be empty.");
-
-        let mut the_min = unsafe { self.vget_unchecked(0).abs() };
-        let mut the_i = 0;
-
-        for i in 1..self.nrows() {
-            let val = unsafe { self.vget_unchecked(i).abs() };
-
-            if val < the_min {
-                the_min = val;
-                the_i = i;
-            }
-        }
-
-        the_i
-    }
-}
-
-// FIXME: find a way to avoid code duplication just for complex number support.
-impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
-    /// Computes the index of the matrix component with the largest absolute value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # extern crate num_complex;
-    /// # extern crate nalgebra;
-    /// # use num_complex::Complex;
-    /// # use nalgebra::Matrix2x3;
-    /// let mat = Matrix2x3::new(Complex::new(11.0, 1.0), Complex::new(-12.0, 2.0), Complex::new(13.0, 3.0),
-    ///                          Complex::new(21.0, 43.0), Complex::new(22.0, 5.0), Complex::new(-23.0, 0.0));
-    /// assert_eq!(mat.icamax_full(), (1, 0));
-    /// ```
-    #[inline]
-    pub fn icamax_full(&self) -> (usize, usize) {
-        assert!(!self.is_empty(), "The input matrix must not be empty.");
-
-        let mut the_max = unsafe { self.get_unchecked((0, 0)).norm1() };
-        let mut the_ij = (0, 0);
-
-        for j in 0..self.ncols() {
-            for i in 0..self.nrows() {
-                let val = unsafe { self.get_unchecked((i, j)).norm1() };
-
-                if val > the_max {
-                    the_max = val;
-                    the_ij = (i, j);
-                }
-            }
-        }
-
-        the_ij
-    }
-}
-
-impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
-    /// Computes the index of the matrix component with the largest absolute value.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Matrix2x3;
-    /// let mat = Matrix2x3::new(11, -12, 13,
-    ///                          21, 22, -23);
-    /// assert_eq!(mat.iamax_full(), (1, 2));
-    /// ```
-    #[inline]
-    pub fn iamax_full(&self) -> (usize, usize) {
-        assert!(!self.is_empty(), "The input matrix must not be empty.");
-
-        let mut the_max = unsafe { self.get_unchecked((0, 0)).abs() };
-        let mut the_ij = (0, 0);
-
-        for j in 0..self.ncols() {
-            for i in 0..self.nrows() {
-                let val = unsafe { self.get_unchecked((i, j)).abs() };
-
-                if val > the_max {
-                    the_max = val;
-                    the_ij = (i, j);
-                }
-            }
-        }
-
-        the_ij
-    }
-}
-
 impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
 where
     N: Scalar + Zero + ClosedAdd + ClosedMul,
@@ -562,6 +311,7 @@ where
     }
 }
 
+/// # BLAS functions
 impl<N, D: Dim, S> Vector<N, D, S>
 where
     N: Scalar + Zero + ClosedAdd + ClosedMul,
@@ -675,7 +425,7 @@ where
             return;
         }
 
-        // FIXME: avoid bound checks.
+        // TODO: avoid bound checks.
         let col2 = a.column(0);
         let val = unsafe { x.vget_unchecked(0).inlined_clone() };
         self.axcpy(alpha.inlined_clone(), &col2, val, beta);
@@ -722,7 +472,7 @@ where
             return;
         }
 
-        // FIXME: avoid bound checks.
+        // TODO: avoid bound checks.
         let col2 = a.column(0);
         let val = unsafe { x.vget_unchecked(0).inlined_clone() };
         self.axpy(alpha.inlined_clone() * val, &col2, beta);
@@ -992,7 +742,7 @@ where
         );
 
         for j in 0..ncols1 {
-            // FIXME: avoid bound checks.
+            // TODO: avoid bound checks.
             let val = unsafe { conjugate(y.vget_unchecked(j).inlined_clone()) };
             self.column_mut(j)
                 .axpy(alpha.inlined_clone() * val, x, beta.inlined_clone());
@@ -1208,7 +958,7 @@ where
         }
 
         for j1 in 0..ncols1 {
-            // FIXME: avoid bound checks.
+            // TODO: avoid bound checks.
             self.column_mut(j1).gemv(
                 alpha.inlined_clone(),
                 a,
@@ -1270,7 +1020,7 @@ where
         );
 
         for j1 in 0..ncols1 {
-            // FIXME: avoid bound checks.
+            // TODO: avoid bound checks.
             self.column_mut(j1).gemv_tr(
                 alpha.inlined_clone(),
                 a,
@@ -1332,7 +1082,7 @@ where
         );
 
         for j1 in 0..ncols1 {
-            // FIXME: avoid bound checks.
+            // TODO: avoid bound checks.
             self.column_mut(j1).gemv_ad(alpha, a, &b.column(j1), beta);
         }
     }
@@ -1369,7 +1119,7 @@ where
         for j in 0..dim1 {
             let val = unsafe { conjugate(y.vget_unchecked(j).inlined_clone()) };
             let subdim = Dynamic::new(dim1 - j);
-            // FIXME: avoid bound checks.
+            // TODO: avoid bound checks.
             self.generic_slice_mut((j, j), (subdim, U1)).axpy(
                 alpha.inlined_clone() * val,
                 &x.rows_range(j..),

src/base/cg.rs

@@ -21,6 +21,7 @@ use crate::geometry::{
 
 use simba::scalar::{ClosedAdd, ClosedMul, RealField};
 
+/// # Translation and scaling in any dimension
 impl<N, D: DimName> MatrixN<N, D>
 where
     N: Scalar + Zero + One,
@@ -65,6 +66,7 @@ where
     }
 }
 
+/// # 2D transformations as a Matrix3
 impl<N: RealField> Matrix3<N> {
     /// Builds a 2 dimensional homogeneous rotation matrix from an angle in radian.
     #[inline]
@@ -93,6 +95,7 @@ impl<N: RealField> Matrix3<N> {
     }
 }
 
+/// # 3D transformations as a Matrix4
 impl<N: RealField> Matrix4<N> {
     /// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
     ///
@@ -200,6 +203,7 @@ impl<N: RealField> Matrix4<N> {
     }
 }
 
+/// # Append/prepend translation and scaling
 impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D, D>>
     SquareMatrix<N, D, S>
 {
@@ -293,15 +297,12 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<N, D
         res.prepend_translation_mut(shift);
         res
     }
-}
 
-impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: StorageMut<N, D, D>>
-    SquareMatrix<N, D, S>
-{
     /// Computes in-place the transformation equal to `self` followed by an uniform scaling factor.
     #[inline]
     pub fn append_scaling_mut(&mut self, scaling: N)
     where
+        S: StorageMut<N, D, D>,
         D: DimNameSub<U1>,
     {
         let mut to_scale = self.fixed_rows_mut::<DimNameDiff<D, U1>>(0);
@@ -312,6 +313,7 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: StorageMut<N
     #[inline]
     pub fn prepend_scaling_mut(&mut self, scaling: N)
     where
+        S: StorageMut<N, D, D>,
         D: DimNameSub<U1>,
     {
         let mut to_scale = self.fixed_columns_mut::<DimNameDiff<D, U1>>(0);
@@ -322,6 +324,7 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: StorageMut<N
     #[inline]
     pub fn append_nonuniform_scaling_mut<SB>(&mut self, scaling: &Vector<N, DimNameDiff<D, U1>, SB>)
     where
+        S: StorageMut<N, D, D>,
         D: DimNameSub<U1>,
         SB: Storage<N, DimNameDiff<D, U1>>,
     {
@@ -337,6 +340,7 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: StorageMut<N
         &mut self,
         scaling: &Vector<N, DimNameDiff<D, U1>, SB>,
     ) where
+        S: StorageMut<N, D, D>,
         D: DimNameSub<U1>,
         SB: Storage<N, DimNameDiff<D, U1>>,
     {
@@ -350,6 +354,7 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: StorageMut<N
     #[inline]
     pub fn append_translation_mut<SB>(&mut self, shift: &Vector<N, DimNameDiff<D, U1>, SB>)
     where
+        S: StorageMut<N, D, D>,
         D: DimNameSub<U1>,
         SB: Storage<N, DimNameDiff<D, U1>>,
     {
@@ -366,6 +371,7 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: StorageMut<N
     pub fn prepend_translation_mut<SB>(&mut self, shift: &Vector<N, DimNameDiff<D, U1>, SB>)
     where
         D: DimNameSub<U1>,
+        S: StorageMut<N, D, D>,
         SB: Storage<N, DimNameDiff<D, U1>>,
         DefaultAllocator: Allocator<N, DimNameDiff<D, U1>>,
     {
@@ -382,6 +388,7 @@ impl<N: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: StorageMut<N
     }
 }
 
+/// # Transformation of vectors and points
 impl<N: RealField, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
 where
     DefaultAllocator: Allocator<N, D, D>

src/base/componentwise.rs

@@ -11,6 +11,7 @@ use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstr
 use crate::base::dimension::Dim;
 use crate::base::storage::{Storage, StorageMut};
 use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixSum, Scalar};
+use crate::ClosedAdd;
 
 /// The type of the result of a matrix component-wise operation.
 pub type MatrixComponentOp<N, R1, C1, R2, C2> = MatrixSum<N, R1, C1, R2, C2>;
@@ -41,12 +42,11 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         res
     }
 
-    // FIXME: add other operators like component_ln, component_pow, etc. ?
+    // TODO: add other operators like component_ln, component_pow, etc. ?
 }
 
 macro_rules! component_binop_impl(
     ($($binop: ident, $binop_mut: ident, $binop_assign: ident, $cmpy: ident, $Trait: ident . $op: ident . $op_assign: ident, $desc:expr, $desc_cmpy:expr, $desc_mut:expr);* $(;)*) => {$(
-        impl<N: Scalar, R1: Dim, C1: Dim, SA: Storage<N, R1, C1>> Matrix<N, R1, C1, SA> {
         #[doc = $desc]
         #[inline]
         pub fn $binop<R2, C2, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> MatrixComponentOp<N, R1, C1, R2, C2>
@@ -69,9 +69,7 @@ macro_rules! component_binop_impl(
 
             res
         }
-        }
 
-        impl<N: Scalar, R1: Dim, C1: Dim, SA: StorageMut<N, R1, C1>> Matrix<N, R1, C1, SA> {
         // componentwise binop plus Y.
         #[doc = $desc_cmpy]
         #[inline]
@@ -79,6 +77,7 @@ macro_rules! component_binop_impl(
             where N: $Trait + Zero + Mul<N, Output = N> + Add<N, Output = N>,
                   R2: Dim, C2: Dim,
                   R3: Dim, C3: Dim,
+                  SA: StorageMut<N, R1, C1>,
                   SB: Storage<N, R2, C2>,
                   SC: Storage<N, R3, C3>,
                   ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> +
@@ -114,6 +113,7 @@ macro_rules! component_binop_impl(
             where N: $Trait,
                   R2: Dim,
                   C2: Dim,
+                  SA: StorageMut<N, R1, C1>,
                   SB: Storage<N, R2, C2>,
                   ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
 
@@ -135,15 +135,17 @@ macro_rules! component_binop_impl(
             where N: $Trait,
                   R2: Dim,
                   C2: Dim,
+                  SA: StorageMut<N, R1, C1>,
                   SB: Storage<N, R2, C2>,
                   ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
             self.$binop_assign(rhs)
         }
-        }
     )*}
 );
 
-component_binop_impl!(
+/// # Componentwise operations
+impl<N: Scalar, R1: Dim, C1: Dim, SA: Storage<N, R1, C1>> Matrix<N, R1, C1, SA> {
+    component_binop_impl!(
         component_mul, component_mul_mut, component_mul_assign, cmpy, ClosedMul.mul.mul_assign,
         r"
         Componentwise matrix or vector multiplication.
@@ -234,33 +236,62 @@ component_binop_impl!(
         assert_eq!(a, expected);
         ```
         ";
-    // FIXME: add other operators like bitshift, etc. ?
+        // TODO: add other operators like bitshift, etc. ?
-);
+    );
 
-/*
- * inf/sup
- */
-impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
-where
-    N: Scalar + SimdPartialOrd,
-    DefaultAllocator: Allocator<N, R, C>,
-{
     /// Computes the infimum (aka. componentwise min) of two matrices/vectors.
     #[inline]
-    pub fn inf(&self, other: &Self) -> MatrixMN<N, R, C> {
+    pub fn inf(&self, other: &Self) -> MatrixMN<N, R1, C1>
+    where
+        N: SimdPartialOrd,
+        DefaultAllocator: Allocator<N, R1, C1>,
+    {
         self.zip_map(other, |a, b| a.simd_min(b))
     }
 
     /// Computes the supremum (aka. componentwise max) of two matrices/vectors.
     #[inline]
-    pub fn sup(&self, other: &Self) -> MatrixMN<N, R, C> {
+    pub fn sup(&self, other: &Self) -> MatrixMN<N, R1, C1>
+    where
+        N: SimdPartialOrd,
+        DefaultAllocator: Allocator<N, R1, C1>,
+    {
         self.zip_map(other, |a, b| a.simd_max(b))
     }
 
     /// Computes the (infimum, supremum) of two matrices/vectors.
     #[inline]
-    pub fn inf_sup(&self, other: &Self) -> (MatrixMN<N, R, C>, MatrixMN<N, R, C>) {
+    pub fn inf_sup(&self, other: &Self) -> (MatrixMN<N, R1, C1>, MatrixMN<N, R1, C1>)
-        // FIXME: can this be optimized?
+    where
+        N: SimdPartialOrd,
+        DefaultAllocator: Allocator<N, R1, C1>,
+    {
+        // TODO: can this be optimized?
         (self.inf(other), self.sup(other))
     }
+
+    /// Adds a scalar to `self`.
+    #[inline]
+    #[must_use = "Did you mean to use add_scalar_mut()?"]
+    pub fn add_scalar(&self, rhs: N) -> MatrixMN<N, R1, C1>
+    where
+        N: ClosedAdd,
+        DefaultAllocator: Allocator<N, R1, C1>,
+    {
+        let mut res = self.clone_owned();
+        res.add_scalar_mut(rhs);
+        res
+    }
+
+    /// Adds a scalar to `self` in-place.
+    #[inline]
+    pub fn add_scalar_mut(&mut self, rhs: N)
+    where
+        N: ClosedAdd,
+        SA: StorageMut<N, R1, C1>,
+    {
+        for e in self.iter_mut() {
+            *e += rhs.inlined_clone()
+        }
+    }
 }

src/base/construction.rs

@@ -22,11 +22,12 @@ use crate::base::dimension::{Dim, DimName, Dynamic, U1, U2, U3, U4, U5, U6};
 use crate::base::storage::Storage;
 use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, Unit, Vector, VectorN};
 
-/*
+/// # Generic constructors
- *
+/// This set of matrix and vector construction functions are all generic
- * Generic constructors.
+/// with-regard to the matrix dimensions. They all expect to be given
- *
+/// the dimension as inputs.
- */
+///
+/// These functions should only be used when working on dimension-generic code.
 impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
 where
     DefaultAllocator: Allocator<N, R, C>,
@@ -209,7 +210,7 @@ where
             );
         }
 
-        // FIXME: optimize that.
+        // TODO: optimize that.
         Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |i, j| {
             rows[i][(0, j)].inlined_clone()
         })
@@ -251,7 +252,7 @@ where
             );
         }
 
-        // FIXME: optimize that.
+        // TODO: optimize that.
         Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |i, j| {
             columns[j][i].inlined_clone()
         })
@@ -350,9 +351,6 @@ where
  */
 macro_rules! impl_constructors(
     ($($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
-        impl<N: Scalar, $($DimIdent: $DimBound, )*> MatrixMN<N $(, $Dims)*>
-            where DefaultAllocator: Allocator<N $(, $Dims)*> {
-
         /// Creates a new uninitialized matrix or vector.
         #[inline]
         pub unsafe fn new_uninitialized($($args: usize),*) -> Self {
@@ -577,48 +575,66 @@ macro_rules! impl_constructors(
         ) -> Self {
             Self::from_distribution_generic($($gargs, )* distribution, rng)
         }
-        }
-
-        impl<N: Scalar, $($DimIdent: $DimBound, )*> MatrixMN<N $(, $Dims)*>
-            where
-            DefaultAllocator: Allocator<N $(, $Dims)*>,
-            Standard: Distribution<N> {
 
         /// Creates a matrix filled with random values.
         #[inline]
         #[cfg(feature = "std")]
-            pub fn new_random($($args: usize),*) -> Self {
+        pub fn new_random($($args: usize),*) -> Self
+            where Standard: Distribution<N> {
             Self::new_random_generic($($gargs),*)
         }
     }
-    }
 );
 
-// FIXME: this is not very pretty. We could find a better call syntax.
+/// # Constructors of statically-sized vectors or statically-sized matrices
-impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
+impl<N: Scalar, R: DimName, C: DimName> MatrixMN<N, R, C>
-=> R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+where
-R::name(), C::name();         // Arguments for `_generic` constructors.
+    DefaultAllocator: Allocator<N, R, C>,
-); // Arguments for non-generic constructors.
+{
+    // TODO: this is not very pretty. We could find a better call syntax.
+    impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
+    => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+    R::name(), C::name();         // Arguments for `_generic` constructors.
+    ); // Arguments for non-generic constructors.
+}
 
-impl_constructors!(R, Dynamic;
+/// # Constructors of matrices with a dynamic number of columns
+impl<N: Scalar, R: DimName> MatrixMN<N, R, Dynamic>
+where
+    DefaultAllocator: Allocator<N, R, Dynamic>,
+{
+    impl_constructors!(R, Dynamic;
                    => R: DimName;
                    R::name(), Dynamic::new(ncols);
                    ncols);
+}
 
-impl_constructors!(Dynamic, C;
+/// # Constructors of dynamic vectors and matrices with a dynamic number of rows
+impl<N: Scalar, C: DimName> MatrixMN<N, Dynamic, C>
+where
+    DefaultAllocator: Allocator<N, Dynamic, C>,
+{
+    impl_constructors!(Dynamic, C;
                    => C: DimName;
                    Dynamic::new(nrows), C::name();
                    nrows);
+}
 
-impl_constructors!(Dynamic, Dynamic;
+/// # Constructors of fully dynamic matrices
+impl<N: Scalar> MatrixMN<N, Dynamic, Dynamic>
+where
+    DefaultAllocator: Allocator<N, Dynamic, Dynamic>,
+{
+    impl_constructors!(Dynamic, Dynamic;
                    ;
                    Dynamic::new(nrows), Dynamic::new(ncols);
                    nrows, ncols);
+}
 
 /*
  *
  * Constructors that don't necessarily require all dimensions
- * to be specified whon one dimension is already known.
+ * to be specified when one dimension is already known.
  *
  */
 macro_rules! impl_constructors_from_data(
@@ -711,7 +727,7 @@ macro_rules! impl_constructors_from_data(
     }
 );
 
-// FIXME: this is not very pretty. We could find a better call syntax.
+// TODO: this is not very pretty. We could find a better call syntax.
 impl_constructors_from_data!(data; R, C;                  // Arguments for Matrix<N, ..., S>
 => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
 R::name(), C::name();         // Arguments for `_generic` constructors.

src/base/construction_slice.rs

@@ -3,11 +3,8 @@ use crate::base::matrix_slice::{SliceStorage, SliceStorageMut};
 use crate::base::{MatrixSliceMN, MatrixSliceMutMN, Scalar};
 
 use num_rational::Ratio;
-/*
+
- *
+/// # Creating matrix slices from `&[T]`
- * Slice constructors.
- *
- */
 impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     MatrixSliceMN<'a, N, R, C, RStride, CStride>
 {
@@ -59,6 +56,89 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     }
 }
 
+impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMN<'a, N, R, C> {
+    /// Creates, without bound-checking, a matrix slice from an array and with dimensions specified by generic types instances.
+    ///
+    /// This method is unsafe because the input data array is not checked to contain enough elements.
+    /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
+    #[inline]
+    pub unsafe fn from_slice_generic_unchecked(
+        data: &'a [N],
+        start: usize,
+        nrows: R,
+        ncols: C,
+    ) -> Self {
+        Self::from_slice_with_strides_generic_unchecked(data, start, nrows, ncols, U1, nrows)
+    }
+
+    /// Creates a matrix slice from an array and with dimensions and strides specified by generic types instances.
+    ///
+    /// Panics if the input data array dose not contain enough elements.
+    /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
+    #[inline]
+    pub fn from_slice_generic(data: &'a [N], nrows: R, ncols: C) -> Self {
+        Self::from_slice_with_strides_generic(data, nrows, ncols, U1, nrows)
+    }
+}
+
+macro_rules! impl_constructors(
+    ($($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
+        impl<'a, N: Scalar, $($DimIdent: $DimBound),*> MatrixSliceMN<'a, N, $($Dims),*> {
+            /// Creates a new matrix slice from the given data array.
+            ///
+            /// Panics if `data` does not contain enough elements.
+            #[inline]
+            pub fn from_slice(data: &'a [N], $($args: usize),*) -> Self {
+                Self::from_slice_generic(data, $($gargs),*)
+            }
+
+            /// Creates, without bound checking, a new matrix slice from the given data array.
+            #[inline]
+            pub unsafe fn from_slice_unchecked(data: &'a [N], start: usize, $($args: usize),*) -> Self {
+                Self::from_slice_generic_unchecked(data, start, $($gargs),*)
+            }
+        }
+
+        impl<'a, N: Scalar, $($DimIdent: $DimBound, )*> MatrixSliceMN<'a, N, $($Dims,)* Dynamic, Dynamic> {
+            /// Creates a new matrix slice with the specified strides from the given data array.
+            ///
+            /// Panics if `data` does not contain enough elements.
+            #[inline]
+            pub fn from_slice_with_strides(data: &'a [N], $($args: usize,)* rstride: usize, cstride: usize) -> Self {
+                Self::from_slice_with_strides_generic(data, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
+            }
+
+            /// Creates, without bound checking, a new matrix slice with the specified strides from the given data array.
+            #[inline]
+            pub unsafe fn from_slice_with_strides_unchecked(data: &'a [N], start: usize, $($args: usize,)* rstride: usize, cstride: usize) -> Self {
+                Self::from_slice_with_strides_generic_unchecked(data, start, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
+            }
+        }
+    }
+);
+
+// TODO: this is not very pretty. We could find a better call syntax.
+impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
+=> R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
+R::name(), C::name();         // Arguments for `_generic` constructors.
+); // Arguments for non-generic constructors.
+
+impl_constructors!(R, Dynamic;
+                   => R: DimName;
+                   R::name(), Dynamic::new(ncols);
+                   ncols);
+
+impl_constructors!(Dynamic, C;
+                   => C: DimName;
+                   Dynamic::new(nrows), C::name();
+                   nrows);
+
+impl_constructors!(Dynamic, Dynamic;
+                   ;
+                   Dynamic::new(nrows), Dynamic::new(ncols);
+                   nrows, ncols);
+
+/// # Creating mutable matrix slices from `&mut [T]`
 impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     MatrixSliceMutMN<'a, N, R, C, RStride, CStride>
 {
@@ -132,31 +212,6 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
     }
 }
 
-impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMN<'a, N, R, C> {
-    /// Creates, without bound-checking, a matrix slice from an array and with dimensions specified by generic types instances.
-    ///
-    /// This method is unsafe because the input data array is not checked to contain enough elements.
-    /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
-    #[inline]
-    pub unsafe fn from_slice_generic_unchecked(
-        data: &'a [N],
-        start: usize,
-        nrows: R,
-        ncols: C,
-    ) -> Self {
-        Self::from_slice_with_strides_generic_unchecked(data, start, nrows, ncols, U1, nrows)
-    }
-
-    /// Creates a matrix slice from an array and with dimensions and strides specified by generic types instances.
-    ///
-    /// Panics if the input data array dose not contain enough elements.
-    /// The generic types `R` and `C` can either be type-level integers or integers wrapped with `Dynamic::new()`.
-    #[inline]
-    pub fn from_slice_generic(data: &'a [N], nrows: R, ncols: C) -> Self {
-        Self::from_slice_with_strides_generic(data, nrows, ncols, U1, nrows)
-    }
-}
-
 impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMutMN<'a, N, R, C> {
     /// Creates, without bound-checking, a mutable matrix slice from an array and with dimensions specified by generic types instances.
     ///
@@ -182,63 +237,6 @@ impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMutMN<'a, N, R, C> {
     }
 }
 
-macro_rules! impl_constructors(
-    ($($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
-        impl<'a, N: Scalar, $($DimIdent: $DimBound),*> MatrixSliceMN<'a, N, $($Dims),*> {
-            /// Creates a new matrix slice from the given data array.
-            ///
-            /// Panics if `data` does not contain enough elements.
-            #[inline]
-            pub fn from_slice(data: &'a [N], $($args: usize),*) -> Self {
-                Self::from_slice_generic(data, $($gargs),*)
-            }
-
-            /// Creates, without bound checking, a new matrix slice from the given data array.
-            #[inline]
-            pub unsafe fn from_slice_unchecked(data: &'a [N], start: usize, $($args: usize),*) -> Self {
-                Self::from_slice_generic_unchecked(data, start, $($gargs),*)
-            }
-        }
-
-        impl<'a, N: Scalar, $($DimIdent: $DimBound, )*> MatrixSliceMN<'a, N, $($Dims,)* Dynamic, Dynamic> {
-            /// Creates a new matrix slice with the specified strides from the given data array.
-            ///
-            /// Panics if `data` does not contain enough elements.
-            #[inline]
-            pub fn from_slice_with_strides(data: &'a [N], $($args: usize,)* rstride: usize, cstride: usize) -> Self {
-                Self::from_slice_with_strides_generic(data, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
-            }
-
-            /// Creates, without bound checking, a new matrix slice with the specified strides from the given data array.
-            #[inline]
-            pub unsafe fn from_slice_with_strides_unchecked(data: &'a [N], start: usize, $($args: usize,)* rstride: usize, cstride: usize) -> Self {
-                Self::from_slice_with_strides_generic_unchecked(data, start, $($gargs,)* Dynamic::new(rstride), Dynamic::new(cstride))
-            }
-        }
-    }
-);
-
-// FIXME: this is not very pretty. We could find a better call syntax.
-impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
-=> R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
-R::name(), C::name();         // Arguments for `_generic` constructors.
-); // Arguments for non-generic constructors.
-
-impl_constructors!(R, Dynamic;
-                   => R: DimName;
-                   R::name(), Dynamic::new(ncols);
-                   ncols);
-
-impl_constructors!(Dynamic, C;
-                   => C: DimName;
-                   Dynamic::new(nrows), C::name();
-                   nrows);
-
-impl_constructors!(Dynamic, Dynamic;
-                   ;
-                   Dynamic::new(nrows), Dynamic::new(ncols);
-                   nrows, ncols);
-
 macro_rules! impl_constructors_mut(
     ($($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
         impl<'a, N: Scalar, $($DimIdent: $DimBound),*> MatrixSliceMutMN<'a, N, $($Dims),*> {
@@ -277,7 +275,7 @@ macro_rules! impl_constructors_mut(
     }
 );
 
-// FIXME: this is not very pretty. We could find a better call syntax.
+// TODO: this is not very pretty. We could find a better call syntax.
 impl_constructors_mut!(R, C;                         // Arguments for Matrix<N, ..., S>
 => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
 R::name(), C::name();         // Arguments for `_generic` constructors.

src/base/conversion.rs

@@ -29,7 +29,7 @@ use crate::base::{
 use crate::base::{SliceStorage, SliceStorageMut};
 use crate::constraint::DimEq;
 
-// FIXME: too bad this won't work allo slice conversions.
+// TODO: too bad this won't work allo slice conversions.
 impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1, C1>
 where
     R1: Dim,

src/base/dimension.rs

@@ -196,7 +196,7 @@ pub trait DimName: Dim {
     /// The name of this dimension, i.e., the singleton `Self`.
     fn name() -> Self;
 
-    // FIXME: this is not a very idiomatic name.
+    // TODO: this is not a very idiomatic name.
     /// The value of this dimension.
     #[inline]
     fn dim() -> usize {

src/base/edition.rs

@@ -18,6 +18,7 @@ use crate::base::storage::{ReshapableStorage, Storage, StorageMut};
 use crate::base::DMatrix;
 use crate::base::{DefaultAllocator, Matrix, MatrixMN, RowVector, Scalar, Vector};
 
+/// # Rows and columns extraction
 impl<N: Scalar + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Extracts the upper triangular part of this matrix (including the diagonal).
     #[inline]
@@ -63,7 +64,7 @@ impl<N: Scalar + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         }
 
         for j in 0..ncols.value() {
-            // FIXME: use unchecked column indexing
+            // TODO: use unchecked column indexing
             let mut res = res.column_mut(j);
             let src = self.column(j);
 
@@ -99,54 +100,8 @@ impl<N: Scalar + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 }
 
+/// # Set rows, columns, and diagonal
 impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
-    /// Sets all the elements of this matrix to `val`.
-    #[inline]
-    pub fn fill(&mut self, val: N) {
-        for e in self.iter_mut() {
-            *e = val.inlined_clone()
-        }
-    }
-
-    /// Fills `self` with the identity matrix.
-    #[inline]
-    pub fn fill_with_identity(&mut self)
-    where
-        N: Zero + One,
-    {
-        self.fill(N::zero());
-        self.fill_diagonal(N::one());
-    }
-
-    /// Sets all the diagonal elements of this matrix to `val`.
-    #[inline]
-    pub fn fill_diagonal(&mut self, val: N) {
-        let (nrows, ncols) = self.shape();
-        let n = cmp::min(nrows, ncols);
-
-        for i in 0..n {
-            unsafe { *self.get_unchecked_mut((i, i)) = val.inlined_clone() }
-        }
-    }
-
-    /// Sets all the elements of the selected row to `val`.
-    #[inline]
-    pub fn fill_row(&mut self, i: usize, val: N) {
-        assert!(i < self.nrows(), "Row index out of bounds.");
-        for j in 0..self.ncols() {
-            unsafe { *self.get_unchecked_mut((i, j)) = val.inlined_clone() }
-        }
-    }
-
-    /// Sets all the elements of the selected column to `val`.
-    #[inline]
-    pub fn fill_column(&mut self, j: usize, val: N) {
-        assert!(j < self.ncols(), "Row index out of bounds.");
-        for i in 0..self.nrows() {
-            unsafe { *self.get_unchecked_mut((i, j)) = val.inlined_clone() }
-        }
-    }
-
     /// Fills the diagonal of this matrix with the content of the given vector.
     #[inline]
     pub fn set_diagonal<R2: Dim, S2>(&mut self, diag: &Vector<N, R2, S2>)
@@ -198,6 +153,56 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     {
         self.column_mut(i).copy_from(column);
     }
+}
+
+/// # In-place filling
+impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
+    /// Sets all the elements of this matrix to `val`.
+    #[inline]
+    pub fn fill(&mut self, val: N) {
+        for e in self.iter_mut() {
+            *e = val.inlined_clone()
+        }
+    }
+
+    /// Fills `self` with the identity matrix.
+    #[inline]
+    pub fn fill_with_identity(&mut self)
+    where
+        N: Zero + One,
+    {
+        self.fill(N::zero());
+        self.fill_diagonal(N::one());
+    }
+
+    /// Sets all the diagonal elements of this matrix to `val`.
+    #[inline]
+    pub fn fill_diagonal(&mut self, val: N) {
+        let (nrows, ncols) = self.shape();
+        let n = cmp::min(nrows, ncols);
+
+        for i in 0..n {
+            unsafe { *self.get_unchecked_mut((i, i)) = val.inlined_clone() }
+        }
+    }
+
+    /// Sets all the elements of the selected row to `val`.
+    #[inline]
+    pub fn fill_row(&mut self, i: usize, val: N) {
+        assert!(i < self.nrows(), "Row index out of bounds.");
+        for j in 0..self.ncols() {
+            unsafe { *self.get_unchecked_mut((i, j)) = val.inlined_clone() }
+        }
+    }
+
+    /// Sets all the elements of the selected column to `val`.
+    #[inline]
+    pub fn fill_column(&mut self, j: usize, val: N) {
+        assert!(j < self.ncols(), "Row index out of bounds.");
+        for i in 0..self.nrows() {
+            unsafe { *self.get_unchecked_mut((i, j)) = val.inlined_clone() }
+        }
+    }
 
     /// Sets all the elements of the lower-triangular part of this matrix to `val`.
     ///
@@ -225,41 +230,13 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     #[inline]
     pub fn fill_upper_triangle(&mut self, val: N, shift: usize) {
         for j in shift..self.ncols() {
-            // FIXME: is there a more efficient way to avoid the min ?
+            // TODO: is there a more efficient way to avoid the min ?
             // (necessary for rectangular matrices)
             for i in 0..cmp::min(j + 1 - shift, self.nrows()) {
                 unsafe { *self.get_unchecked_mut((i, j)) = val.inlined_clone() }
             }
         }
     }
-
-    /// Swaps two rows in-place.
-    #[inline]
-    pub fn swap_rows(&mut self, irow1: usize, irow2: usize) {
-        assert!(irow1 < self.nrows() && irow2 < self.nrows());
-
-        if irow1 != irow2 {
-            // FIXME: optimize that.
-            for i in 0..self.ncols() {
-                unsafe { self.swap_unchecked((irow1, i), (irow2, i)) }
-            }
-        }
-        // Otherwise do nothing.
-    }
-
-    /// Swaps two columns in-place.
-    #[inline]
-    pub fn swap_columns(&mut self, icol1: usize, icol2: usize) {
-        assert!(icol1 < self.ncols() && icol2 < self.ncols());
-
-        if icol1 != icol2 {
-            // FIXME: optimize that.
-            for i in 0..self.nrows() {
-                unsafe { self.swap_unchecked((i, icol1), (i, icol2)) }
-            }
-        }
-        // Otherwise do nothing.
-    }
 }
 
 impl<N: Scalar, D: Dim, S: StorageMut<N, D, D>> Matrix<N, D, D, S> {
@@ -295,11 +272,43 @@ impl<N: Scalar, D: Dim, S: StorageMut<N, D, D>> Matrix<N, D, D, S> {
     }
 }
 
+/// # In-place swapping
+impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
+    /// Swaps two rows in-place.
+    #[inline]
+    pub fn swap_rows(&mut self, irow1: usize, irow2: usize) {
+        assert!(irow1 < self.nrows() && irow2 < self.nrows());
+
+        if irow1 != irow2 {
+            // TODO: optimize that.
+            for i in 0..self.ncols() {
+                unsafe { self.swap_unchecked((irow1, i), (irow2, i)) }
+            }
+        }
+        // Otherwise do nothing.
+    }
+
+    /// Swaps two columns in-place.
+    #[inline]
+    pub fn swap_columns(&mut self, icol1: usize, icol2: usize) {
+        assert!(icol1 < self.ncols() && icol2 < self.ncols());
+
+        if icol1 != icol2 {
+            // TODO: optimize that.
+            for i in 0..self.nrows() {
+                unsafe { self.swap_unchecked((i, icol1), (i, icol2)) }
+            }
+        }
+        // Otherwise do nothing.
+    }
+}
+
 /*
  *
- * FIXME: specialize all the following for slices.
+ * TODO: specialize all the following for slices.
  *
  */
+/// # Rows and columns removal
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /*
      *
@@ -531,7 +540,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
             ))
         }
     }
+}
 
+/// # Rows and columns insertion
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /*
      *
      * Columns insertion.
@@ -689,13 +701,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
 
         res
     }
+}
 
-    /*
+/// # Resizing and reshaping
-     *
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
-     * Resizing.
-     *
-     */
-
     /// Resizes this matrix so that it contains `new_nrows` rows and `new_ncols` columns.
     ///
     /// The values are copied such that `self[(i, j)] == result[(i, j)]`. If the result has more
@@ -811,14 +820,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
             res
         }
     }
-}
 
-impl<N, R, C, S> Matrix<N, R, C, S>
-where
-    N: Scalar,
-    R: Dim,
-    C: Dim,
-{
     /// Reshapes `self` such that it has dimensions `new_nrows × new_ncols`.
     ///
     /// This will reinterpret `self` as if it is a matrix with `new_nrows` rows and `new_ncols`
@@ -887,6 +889,7 @@ where
     }
 }
 
+/// # In-place resizing
 #[cfg(any(feature = "std", feature = "alloc"))]
 impl<N: Scalar> DMatrix<N> {
     /// Resizes this matrix in-place.

src/base/indexing.rs

@@ -390,7 +390,7 @@ pub trait MatrixIndexMut<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>>:
     }
 }
 
-/// # Indexing Operations
+/// # Slicing based on ranges
 /// ## Indices to Individual Elements
 /// ### Two-Dimensional Indices
 /// ```

src/base/interpolation.rs

@@ -0,0 +1,122 @@
+use crate::storage::Storage;
+use crate::{
+    Allocator, DefaultAllocator, Dim, One, RealField, Scalar, Unit, Vector, VectorN, Zero,
+};
+use simba::scalar::{ClosedAdd, ClosedMul, ClosedSub};
+
+/// # Interpolation
+impl<N: Scalar + Zero + One + ClosedAdd + ClosedSub + ClosedMul, D: Dim, S: Storage<N, D>>
+    Vector<N, D, S>
+{
+    /// Returns `self * (1.0 - t) + rhs * t`, i.e., the linear blend of the vectors x and y using the scalar value a.
+    ///
+    /// The value for a is not restricted to the range `[0, 1]`.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let x = Vector3::new(1.0, 2.0, 3.0);
+    /// let y = Vector3::new(10.0, 20.0, 30.0);
+    /// assert_eq!(x.lerp(&y, 0.1), Vector3::new(1.9, 3.8, 5.7));
+    /// ```
+    pub fn lerp<S2: Storage<N, D>>(&self, rhs: &Vector<N, D, S2>, t: N) -> VectorN<N, D>
+    where
+        DefaultAllocator: Allocator<N, D>,
+    {
+        let mut res = self.clone_owned();
+        res.axpy(t.inlined_clone(), rhs, N::one() - t);
+        res
+    }
+
+    /// Computes the spherical linear interpolation between two non-zero vectors.
+    ///
+    /// The result is a unit vector.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::{Unit, Vector2};
+    ///
+    /// let v1 =Vector2::new(1.0, 2.0);
+    /// let v2 = Vector2::new(2.0, -3.0);
+    ///
+    /// let v = v1.slerp(&v2, 1.0);
+    ///
+    /// assert_eq!(v, v2.normalize());
+    /// ```
+    pub fn slerp<S2: Storage<N, D>>(&self, rhs: &Vector<N, D, S2>, t: N) -> VectorN<N, D>
+    where
+        N: RealField,
+        DefaultAllocator: Allocator<N, D>,
+    {
+        let me = Unit::new_normalize(self.clone_owned());
+        let rhs = Unit::new_normalize(rhs.clone_owned());
+        me.slerp(&rhs, t).into_inner()
+    }
+}
+
+impl<N: RealField, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
+    /// Computes the spherical linear interpolation between two unit vectors.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::{Unit, Vector2};
+    ///
+    /// let v1 = Unit::new_normalize(Vector2::new(1.0, 2.0));
+    /// let v2 = Unit::new_normalize(Vector2::new(2.0, -3.0));
+    ///
+    /// let v = v1.slerp(&v2, 1.0);
+    ///
+    /// assert_eq!(v, v2);
+    /// ```
+    pub fn slerp<S2: Storage<N, D>>(
+        &self,
+        rhs: &Unit<Vector<N, D, S2>>,
+        t: N,
+    ) -> Unit<VectorN<N, D>>
+    where
+        DefaultAllocator: Allocator<N, D>,
+    {
+        // TODO: the result is wrong when self and rhs are collinear with opposite direction.
+        self.try_slerp(rhs, t, N::default_epsilon())
+            .unwrap_or(Unit::new_unchecked(self.clone_owned()))
+    }
+
+    /// Computes the spherical linear interpolation between two unit vectors.
+    ///
+    /// Returns `None` if the two vectors are almost collinear and with opposite direction
+    /// (in this case, there is an infinity of possible results).
+    pub fn try_slerp<S2: Storage<N, D>>(
+        &self,
+        rhs: &Unit<Vector<N, D, S2>>,
+        t: N,
+        epsilon: N,
+    ) -> Option<Unit<VectorN<N, D>>>
+    where
+        DefaultAllocator: Allocator<N, D>,
+    {
+        let c_hang = self.dot(rhs);
+
+        // self == other
+        if c_hang >= N::one() {
+            return Some(Unit::new_unchecked(self.clone_owned()));
+        }
+
+        let hang = c_hang.acos();
+        let s_hang = (N::one() - c_hang * c_hang).sqrt();
+
+        // TODO: what if s_hang is 0.0 ? The result is not well-defined.
+        if relative_eq!(s_hang, N::zero(), epsilon = epsilon) {
+            None
+        } else {
+            let ta = ((N::one() - t) * hang).sin() / s_hang;
+            let tb = (t * hang).sin() / s_hang;
+            let mut res = self.scale(ta);
+            res.axpy(tb, &**rhs, N::one());
+
+            Some(Unit::new_unchecked(res))
+        }
+    }
+}

src/base/iter.rs

@@ -19,7 +19,7 @@ macro_rules! iterator {
             _phantoms: PhantomData<($Ref, R, C, S)>,
         }
 
-        // FIXME: we need to specialize for the case where the matrix storage is owned (in which
+        // TODO: we need to specialize for the case where the matrix storage is owned (in which
         // case the iterator is trivial because it does not have any stride).
         impl<'a, N: Scalar, R: Dim, C: Dim, S: 'a + $Storage<N, R, C>> $Name<'a, N, R, C, S> {
             /// Creates a new iterator for the given matrix storage.

src/base/matrix.rs

@@ -54,7 +54,80 @@ pub type MatrixCross<N, R1, C1, R2, C2> =
 
 /// The most generic column-major matrix (and vector) type.
 ///
-/// It combines four type parameters:
+/// # Methods summary
+/// Because `Matrix` is the most generic types used as a common representation of all matrices and
+/// vectors of **nalgebra** this documentation page contains every single matrix/vector-related
+/// method. In order to make browsing this page simpler, the next subsections contain direct links
+/// to groups of methods related to a specific topic.
+///
+/// #### Vector and matrix construction
+/// - [Constructors of statically-sized vectors or statically-sized matrices](#constructors-of-statically-sized-vectors-or-statically-sized-matrices)
+///   (`Vector3`, `Matrix3x6`…)
+/// - [Constructors of fully dynamic matrices](#constructors-of-fully-dynamic-matrices) (`DMatrix`)
+/// - [Constructors of dynamic vectors and matrices with a dynamic number of rows](#constructors-of-dynamic-vectors-and-matrices-with-a-dynamic-number-of-rows)
+///   (`DVector`, `MatrixXx3`…)
+/// - [Constructors of matrices with a dynamic number of columns](#constructors-of-matrices-with-a-dynamic-number-of-columns)
+///   (`Matrix2xX`…)
+/// - [Generic constructors](#generic-constructors)
+///   (For code generic wrt. the vectors or matrices dimensions.)
+///
+/// #### Computer graphics utilities for transformations
+/// - [2D transformations as a Matrix3 <span style="float:right;">`new_rotation`…</span>](#2d-transformations-as-a-matrix3)
+/// - [3D transformations as a Matrix4 <span style="float:right;">`new_rotation`, `new_perspective`, `look_at_rh`…</span>](#3d-transformations-as-a-matrix4)
+/// - [Translation and scaling in any dimension <span style="float:right;">`new_scaling`, `new_translation`…</span>](#translation-and-scaling-in-any-dimension)
+/// - [Append/prepend translation and scaling <span style="float:right;">`append_scaling`, `prepend_translation_mut`…</span>](#appendprepend-translation-and-scaling)
+/// - [Transformation of vectors and points <span style="float:right;">`transform_vector`, `transform_point`…</span>](#transformation-of-vectors-and-points)
+///
+/// #### Common math operations
+/// - [Componentwise operations <span style="float:right;">`component_mul`, `component_div`, `inf`…</span>](#componentwise-operations)
+/// - [Special multiplications <span style="float:right;">`tr_mul`, `ad_mul`, `kronecker`…</span>](#special-multiplications)
+/// - [Dot/scalar product <span style="float:right;">`dot`, `dotc`, `tr_dot`…</span>](#dotscalar-product)
+/// - [Cross product <span style="float:right;">`cross`, `perp`…</span>](#cross-product)
+/// - [Magnitude and norms <span style="float:right;">`norm`, `normalize`, `metric_distance`…</span>](#magnitude-and-norms)
+/// - [In-place normalization <span style="float:right;">`normalize_mut`, `try_normalize_mut`…</span>](#in-place-normalization)
+/// - [Interpolation <span style="float:right;">`lerp`, `slerp`…</span>](#interpolation)
+/// - [BLAS functions <span style="float:right;">`gemv`, `gemm`, `syger`…</span>](#blas-functions)
+/// - [Swizzling <span style="float:right;">`xx`, `yxz`…</span>](#swizzling)
+///
+/// #### Statistics
+/// - [Common operations <span style="float:right;">`row_sum`, `column_mean`, `variance`…</span>](#common-statistics-operations)
+/// - [Find the min and max components <span style="float:right;">`min`, `max`, `amin`, `amax`, `camin`, `cmax`…</span>](#find-the-min-and-max-components)
+/// - [Find the min and max components (vector-specific methods) <span style="float:right;">`argmin`, `argmax`, `icamin`, `icamax`…</span>](#find-the-min-and-max-components-vector-specific-methods)
+///
+/// #### Iteration, map, and fold
+/// - [Iteration on components, rows, and columns <span style="float:right;">`iter`, `column_iter`…</span>](#iteration-on-components-rows-and-columns)
+/// - [Elementwise mapping and folding <span style="float:right;">`map`, `fold`, `zip_map`…</span>](#elementwise-mapping-and-folding)
+/// - [Folding or columns and rows <span style="float:right;">`compress_rows`, `compress_columns`…</span>](#folding-on-columns-and-rows)
+///
+/// #### Vector and matrix slicing
+/// - [Creating matrix slices from `&[T]` <span style="float:right;">`from_slice`, `from_slice_with_strides`…</span>](#creating-matrix-slices-from-t)
+/// - [Creating mutable matrix slices from `&mut [T]` <span style="float:right;">`from_slice_mut`, `from_slice_with_strides_mut`…</span>](#creating-mutable-matrix-slices-from-mut-t)
+/// - [Slicing based on index and length <span style="float:right;">`row`, `columns`, `slice`…</span>](#slicing-based-on-index-and-length)
+/// - [Mutable slicing based on index and length <span style="float:right;">`row_mut`, `columns_mut`, `slice_mut`…</span>](#mutable-slicing-based-on-index-and-length)
+/// - [Slicing based on ranges <span style="float:right;">`rows_range`, `columns_range`…</span>](#slicing-based-on-ranges)
+/// - [Mutable slicing based on ranges <span style="float:right;">`rows_range_mut`, `columns_range_mut`…</span>](#mutable-slicing-based-on-ranges)
+///
+/// #### In-place modification of a single matrix or vector
+/// - [In-place filling <span style="float:right;">`fill`, `fill_diagonal`, `fill_with_identity`…</span>](#in-place-filling)
+/// - [In-place swapping <span style="float:right;">`swap`, `swap_columns`…</span>](#in-place-swapping)
+/// - [Set rows, columns, and diagonal <span style="float:right;">`set_column`, `set_diagonal`…</span>](#set-rows-columns-and-diagonal)
+///
+/// #### Vector and matrix size modification
+/// - [Rows and columns insertion <span style="float:right;">`insert_row`, `insert_column`…</span>](#rows-and-columns-insertion)
+/// - [Rows and columns removal <span style="float:right;">`remove_row`, `remove column`…</span>](#rows-and-columns-removal)
+/// - [Rows and columns extraction <span style="float:right;">`select_rows`, `select_columns`…</span>](#rows-and-columns-extraction)
+/// - [Resizing and reshaping <span style="float:right;">`resize`, `reshape_generic`…</span>](#resizing-and-reshaping)
+/// - [In-place resizing <span style="float:right;">`resize_mut`, `resize_vertically_mut`…</span>](#in-place-resizing)
+///
+/// #### Matrix decomposition
+/// - [Rectangular matrix decomposition <span style="float:right;">`qr`, `lu`, `svd`…</span>](#rectangular-matrix-decomposition)
+/// - [Square matrix decomposition <span style="float:right;">`cholesky`, `symmetric_eigen`…</span>](#square-matrix-decomposition)
+///
+/// #### Vector basis computation
+/// - [Basis and orthogonalization <span style="float:right;">`orthonormal_subspace_basis`, `orthonormalize`…</span>](#basis-and-orthogonalization)
+///
+/// # Type parameters
+/// The generic `Matrix` type has four type parameters:
 /// - `N`: for the matrix components scalar type.
 /// - `R`: for the matrix number of rows.
 /// - `C`: for the matrix number of columns.
@@ -78,8 +151,29 @@ pub type MatrixCross<N, R1, C1, R2, C2> =
 #[repr(C)]
 #[derive(Clone, Copy)]
 pub struct Matrix<N: Scalar, R: Dim, C: Dim, S> {
-    /// The data storage that contains all the matrix components and informations about its number
+    /// The data storage that contains all the matrix components. Disappointed?
-    /// of rows and column (if needed).
+    ///
+    /// Well, if you came here to see how you can access the matrix components,
+    /// you may be in luck: you can access the individual components of all vectors with compile-time
+    /// dimensions <= 6 using field notation like this:
+    /// `vec.x`, `vec.y`, `vec.z`, `vec.w`, `vec.a`, `vec.b`. Reference and assignation work too:
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let mut vec = Vector3::new(1.0, 2.0, 3.0);
+    /// vec.x = 10.0;
+    /// vec.y += 30.0;
+    /// assert_eq!(vec.x, 10.0);
+    /// assert_eq!(vec.y + 100.0, 132.0);
+    /// ```
+    /// Similarly, for matrices with compile-time dimensions <= 6, you can use field notation
+    /// like this: `mat.m11`, `mat.m42`, etc. The first digit identifies the row to address
+    /// and the second digit identifies the column to address. So `mat.m13` identifies the component
+    /// at the first row and third column (note that the count of rows and columns start at 1 instead
+    /// of 0 here. This is so we match the mathematical notation).
+    ///
+    /// For all matrices and vectors, independently from their size, individual components can
+    /// be accessed and modified using indexing: `vec[20]`, `mat[(20, 19)]`. Here the indexing
+    /// starts at 0 as you would expect.
     pub data: S,
 
     _phantoms: PhantomData<(N, R, C)>,
@@ -274,58 +368,6 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         (srows.value(), scols.value())
     }
 
-    /// Iterates through this matrix coordinates in column-major order.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Matrix2x3;
-    /// let mat = Matrix2x3::new(11, 12, 13,
-    ///                          21, 22, 23);
-    /// let mut it = mat.iter();
-    /// assert_eq!(*it.next().unwrap(), 11);
-    /// assert_eq!(*it.next().unwrap(), 21);
-    /// assert_eq!(*it.next().unwrap(), 12);
-    /// assert_eq!(*it.next().unwrap(), 22);
-    /// assert_eq!(*it.next().unwrap(), 13);
-    /// assert_eq!(*it.next().unwrap(), 23);
-    /// assert!(it.next().is_none());
-    #[inline]
-    pub fn iter(&self) -> MatrixIter<N, R, C, S> {
-        MatrixIter::new(&self.data)
-    }
-
-    /// Iterate through the rows of this matrix.
-    ///
-    /// # Example
-    /// ```
-    /// # use nalgebra::Matrix2x3;
-    /// let mut a = Matrix2x3::new(1, 2, 3,
-    ///                            4, 5, 6);
-    /// for (i, row) in a.row_iter().enumerate() {
-    ///     assert_eq!(row, a.row(i))
-    /// }
-    /// ```
-    #[inline]
-    pub fn row_iter(&self) -> RowIter<N, R, C, S> {
-        RowIter::new(self)
-    }
-
-    /// Iterate through the columns of this matrix.
-    /// # Example
-    /// ```
-    /// # use nalgebra::Matrix2x3;
-    /// let mut a = Matrix2x3::new(1, 2, 3,
-    ///                            4, 5, 6);
-    /// for (i, column) in a.column_iter().enumerate() {
-    ///     assert_eq!(column, a.column(i))
-    /// }
-    /// ```
-    #[inline]
-    pub fn column_iter(&self) -> ColumnIter<N, R, C, S> {
-        ColumnIter::new(self)
-    }
-
     /// Computes the row and column coordinates of the i-th element of this matrix seen as a
     /// vector.
     ///
@@ -418,7 +460,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         Matrix::from_data(self.data.into_owned())
     }
 
-    // FIXME: this could probably benefit from specialization.
+    // TODO: this could probably benefit from specialization.
     // XXX: bad name.
     /// Moves this matrix into one that owns its data. The actual type of the result depends on
     /// matrix storage combination rules for addition.
@@ -434,7 +476,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
             // We can just return `self.into_owned()`.
 
             unsafe {
-                // FIXME: check that those copies are optimized away by the compiler.
+                // TODO: check that those copies are optimized away by the compiler.
                 let owned = self.into_owned();
                 let res = mem::transmute_copy(&owned);
                 mem::forget(owned);
@@ -471,7 +513,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         let mut res: MatrixSum<N, R, C, R2, C2> =
             unsafe { Matrix::new_uninitialized_generic(nrows, ncols) };
 
-        // FIXME: use copy_from
+        // TODO: use copy_from
         for j in 0..res.ncols() {
             for i in 0..res.nrows() {
                 unsafe {
@@ -483,6 +525,51 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         res
     }
 
+    /// Transposes `self` and store the result into `out`.
+    #[inline]
+    pub fn transpose_to<R2, C2, SB>(&self, out: &mut Matrix<N, R2, C2, SB>)
+    where
+        R2: Dim,
+        C2: Dim,
+        SB: StorageMut<N, R2, C2>,
+        ShapeConstraint: SameNumberOfRows<R, C2> + SameNumberOfColumns<C, R2>,
+    {
+        let (nrows, ncols) = self.shape();
+        assert!(
+            (ncols, nrows) == out.shape(),
+            "Incompatible shape for transpose-copy."
+        );
+
+        // TODO: optimize that.
+        for i in 0..nrows {
+            for j in 0..ncols {
+                unsafe {
+                    *out.get_unchecked_mut((j, i)) = self.get_unchecked((i, j)).inlined_clone();
+                }
+            }
+        }
+    }
+
+    /// Transposes `self`.
+    #[inline]
+    #[must_use = "Did you mean to use transpose_mut()?"]
+    pub fn transpose(&self) -> MatrixMN<N, C, R>
+    where
+        DefaultAllocator: Allocator<N, C, R>,
+    {
+        let (nrows, ncols) = self.data.shape();
+
+        unsafe {
+            let mut res = Matrix::new_uninitialized_generic(ncols, nrows);
+            self.transpose_to(&mut res);
+
+            res
+        }
+    }
+}
+
+/// # Elementwise mapping and folding
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Returns a matrix containing the result of `f` applied to each of its entries.
     #[inline]
     pub fn map<N2: Scalar, F: FnMut(N) -> N2>(&self, mut f: F) -> MatrixMN<N2, R, C>
@@ -687,63 +774,166 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         res
     }
 
-    /// Transposes `self` and store the result into `out`.
+    /// Replaces each component of `self` by the result of a closure `f` applied on it.
     #[inline]
-    pub fn transpose_to<R2, C2, SB>(&self, out: &mut Matrix<N, R2, C2, SB>)
+    pub fn apply<F: FnMut(N) -> N>(&mut self, mut f: F)
     where
-        R2: Dim,
+        S: StorageMut<N, R, C>,
-        C2: Dim,
-        SB: StorageMut<N, R2, C2>,
-        ShapeConstraint: SameNumberOfRows<R, C2> + SameNumberOfColumns<C, R2>,
     {
         let (nrows, ncols) = self.shape();
-        assert!(
+
-            (ncols, nrows) == out.shape(),
+        for j in 0..ncols {
-            "Incompatible shape for transpose-copy."
+            for i in 0..nrows {
+                unsafe {
+                    let e = self.data.get_unchecked_mut(i, j);
+                    *e = f(e.inlined_clone())
+                }
+            }
+        }
+    }
+
+    /// Replaces each component of `self` by the result of a closure `f` applied on its components
+    /// joined with the components from `rhs`.
+    #[inline]
+    pub fn zip_apply<N2, R2, C2, S2>(
+        &mut self,
+        rhs: &Matrix<N2, R2, C2, S2>,
+        mut f: impl FnMut(N, N2) -> N,
+    ) where
+        S: StorageMut<N, R, C>,
+        N2: Scalar,
+        R2: Dim,
+        C2: Dim,
+        S2: Storage<N2, R2, C2>,
+        ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
+    {
+        let (nrows, ncols) = self.shape();
+
+        assert_eq!(
+            (nrows, ncols),
+            rhs.shape(),
+            "Matrix simultaneous traversal error: dimension mismatch."
         );
 
-        // FIXME: optimize that.
-        for i in 0..nrows {
         for j in 0..ncols {
+            for i in 0..nrows {
                 unsafe {
-                    *out.get_unchecked_mut((j, i)) = self.get_unchecked((i, j)).inlined_clone();
+                    let e = self.data.get_unchecked_mut(i, j);
+                    let rhs = rhs.get_unchecked((i, j)).inlined_clone();
+                    *e = f(e.inlined_clone(), rhs)
                 }
             }
         }
     }
 
-    /// Transposes `self`.
+    /// Replaces each component of `self` by the result of a closure `f` applied on its components
+    /// joined with the components from `b` and `c`.
     #[inline]
-    #[must_use = "Did you mean to use transpose_mut()?"]
+    pub fn zip_zip_apply<N2, R2, C2, S2, N3, R3, C3, S3>(
-    pub fn transpose(&self) -> MatrixMN<N, C, R>
+        &mut self,
-    where
+        b: &Matrix<N2, R2, C2, S2>,
-        DefaultAllocator: Allocator<N, C, R>,
+        c: &Matrix<N3, R3, C3, S3>,
+        mut f: impl FnMut(N, N2, N3) -> N,
+    ) where
+        S: StorageMut<N, R, C>,
+        N2: Scalar,
+        R2: Dim,
+        C2: Dim,
+        S2: Storage<N2, R2, C2>,
+        N3: Scalar,
+        R3: Dim,
+        C3: Dim,
+        S3: Storage<N3, R3, C3>,
+        ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
+        ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
     {
-        let (nrows, ncols) = self.data.shape();
+        let (nrows, ncols) = self.shape();
 
+        assert_eq!(
+            (nrows, ncols),
+            b.shape(),
+            "Matrix simultaneous traversal error: dimension mismatch."
+        );
+        assert_eq!(
+            (nrows, ncols),
+            c.shape(),
+            "Matrix simultaneous traversal error: dimension mismatch."
+        );
+
+        for j in 0..ncols {
+            for i in 0..nrows {
                 unsafe {
-            let mut res = Matrix::new_uninitialized_generic(ncols, nrows);
+                    let e = self.data.get_unchecked_mut(i, j);
-            self.transpose_to(&mut res);
+                    let b = b.get_unchecked((i, j)).inlined_clone();
-
+                    let c = c.get_unchecked((i, j)).inlined_clone();
-            res
+                    *e = f(e.inlined_clone(), b, c)
+                }
+            }
         }
     }
 }
 
-impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
+/// # Iteration on components, rows, and columns
-    /// Mutably iterates through this matrix coordinates.
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /// Iterates through this matrix coordinates in column-major order.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mat = Matrix2x3::new(11, 12, 13,
+    ///                          21, 22, 23);
+    /// let mut it = mat.iter();
+    /// assert_eq!(*it.next().unwrap(), 11);
+    /// assert_eq!(*it.next().unwrap(), 21);
+    /// assert_eq!(*it.next().unwrap(), 12);
+    /// assert_eq!(*it.next().unwrap(), 22);
+    /// assert_eq!(*it.next().unwrap(), 13);
+    /// assert_eq!(*it.next().unwrap(), 23);
+    /// assert!(it.next().is_none());
     #[inline]
-    pub fn iter_mut(&mut self) -> MatrixIterMut<N, R, C, S> {
+    pub fn iter(&self) -> MatrixIter<N, R, C, S> {
-        MatrixIterMut::new(&mut self.data)
+        MatrixIter::new(&self.data)
     }
 
-    /// Returns a mutable pointer to the start of the matrix.
+    /// Iterate through the rows of this matrix.
     ///
-    /// If the matrix is not empty, this pointer is guaranteed to be aligned
+    /// # Example
-    /// and non-null.
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mut a = Matrix2x3::new(1, 2, 3,
+    ///                            4, 5, 6);
+    /// for (i, row) in a.row_iter().enumerate() {
+    ///     assert_eq!(row, a.row(i))
+    /// }
+    /// ```
     #[inline]
-    pub fn as_mut_ptr(&mut self) -> *mut N {
+    pub fn row_iter(&self) -> RowIter<N, R, C, S> {
-        self.data.ptr_mut()
+        RowIter::new(self)
+    }
+
+    /// Iterate through the columns of this matrix.
+    /// # Example
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mut a = Matrix2x3::new(1, 2, 3,
+    ///                            4, 5, 6);
+    /// for (i, column) in a.column_iter().enumerate() {
+    ///     assert_eq!(column, a.column(i))
+    /// }
+    /// ```
+    #[inline]
+    pub fn column_iter(&self) -> ColumnIter<N, R, C, S> {
+        ColumnIter::new(self)
+    }
+
+    /// Mutably iterates through this matrix coordinates.
+    #[inline]
+    pub fn iter_mut(&mut self) -> MatrixIterMut<N, R, C, S>
+    where
+        S: StorageMut<N, R, C>,
+    {
+        MatrixIterMut::new(&mut self.data)
     }
 
     /// Mutably iterates through this matrix rows.
@@ -762,7 +952,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// assert_eq!(a, expected);
     /// ```
     #[inline]
-    pub fn row_iter_mut(&mut self) -> RowIterMut<N, R, C, S> {
+    pub fn row_iter_mut(&mut self) -> RowIterMut<N, R, C, S>
+    where
+        S: StorageMut<N, R, C>,
+    {
         RowIterMut::new(self)
     }
 
@@ -782,9 +975,23 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// assert_eq!(a, expected);
     /// ```
     #[inline]
-    pub fn column_iter_mut(&mut self) -> ColumnIterMut<N, R, C, S> {
+    pub fn column_iter_mut(&mut self) -> ColumnIterMut<N, R, C, S>
+    where
+        S: StorageMut<N, R, C>,
+    {
         ColumnIterMut::new(self)
     }
+}
+
+impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
+    /// Returns a mutable pointer to the start of the matrix.
+    ///
+    /// If the matrix is not empty, this pointer is guaranteed to be aligned
+    /// and non-null.
+    #[inline]
+    pub fn as_mut_ptr(&mut self) -> *mut N {
+        self.data.ptr_mut()
+    }
 
     /// Swaps two entries without bound-checking.
     #[inline]
@@ -878,106 +1085,13 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         }
     }
 
-    // FIXME: rename `apply` to `apply_mut` and `apply_into` to `apply`?
+    // TODO: rename `apply` to `apply_mut` and `apply_into` to `apply`?
     /// Returns `self` with each of its components replaced by the result of a closure `f` applied on it.
     #[inline]
     pub fn apply_into<F: FnMut(N) -> N>(mut self, f: F) -> Self {
         self.apply(f);
         self
     }
-
-    /// Replaces each component of `self` by the result of a closure `f` applied on it.
-    #[inline]
-    pub fn apply<F: FnMut(N) -> N>(&mut self, mut f: F) {
-        let (nrows, ncols) = self.shape();
-
-        for j in 0..ncols {
-            for i in 0..nrows {
-                unsafe {
-                    let e = self.data.get_unchecked_mut(i, j);
-                    *e = f(e.inlined_clone())
-                }
-            }
-        }
-    }
-
-    /// Replaces each component of `self` by the result of a closure `f` applied on its components
-    /// joined with the components from `rhs`.
-    #[inline]
-    pub fn zip_apply<N2, R2, C2, S2>(
-        &mut self,
-        rhs: &Matrix<N2, R2, C2, S2>,
-        mut f: impl FnMut(N, N2) -> N,
-    ) where
-        N2: Scalar,
-        R2: Dim,
-        C2: Dim,
-        S2: Storage<N2, R2, C2>,
-        ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
-    {
-        let (nrows, ncols) = self.shape();
-
-        assert_eq!(
-            (nrows, ncols),
-            rhs.shape(),
-            "Matrix simultaneous traversal error: dimension mismatch."
-        );
-
-        for j in 0..ncols {
-            for i in 0..nrows {
-                unsafe {
-                    let e = self.data.get_unchecked_mut(i, j);
-                    let rhs = rhs.get_unchecked((i, j)).inlined_clone();
-                    *e = f(e.inlined_clone(), rhs)
-                }
-            }
-        }
-    }
-
-    /// Replaces each component of `self` by the result of a closure `f` applied on its components
-    /// joined with the components from `b` and `c`.
-    #[inline]
-    pub fn zip_zip_apply<N2, R2, C2, S2, N3, R3, C3, S3>(
-        &mut self,
-        b: &Matrix<N2, R2, C2, S2>,
-        c: &Matrix<N3, R3, C3, S3>,
-        mut f: impl FnMut(N, N2, N3) -> N,
-    ) where
-        N2: Scalar,
-        R2: Dim,
-        C2: Dim,
-        S2: Storage<N2, R2, C2>,
-        N3: Scalar,
-        R3: Dim,
-        C3: Dim,
-        S3: Storage<N3, R3, C3>,
-        ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
-        ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
-    {
-        let (nrows, ncols) = self.shape();
-
-        assert_eq!(
-            (nrows, ncols),
-            b.shape(),
-            "Matrix simultaneous traversal error: dimension mismatch."
-        );
-        assert_eq!(
-            (nrows, ncols),
-            c.shape(),
-            "Matrix simultaneous traversal error: dimension mismatch."
-        );
-
-        for j in 0..ncols {
-            for i in 0..nrows {
-                unsafe {
-                    let e = self.data.get_unchecked_mut(i, j);
-                    let b = b.get_unchecked((i, j)).inlined_clone();
-                    let c = c.get_unchecked((i, j)).inlined_clone();
-                    *e = f(e.inlined_clone(), b, c)
-                }
-            }
-        }
-    }
 }
 
 impl<N: Scalar, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
@@ -1050,7 +1164,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
             "Incompatible shape for transpose-copy."
         );
 
-        // FIXME: optimize that.
+        // TODO: optimize that.
         for i in 0..nrows {
             for j in 0..ncols {
                 unsafe {
@@ -1627,6 +1741,7 @@ fn lower_exp() {
     )
 }
 
+/// # Cross product
 impl<N: Scalar + ClosedAdd + ClosedSub + ClosedMul, R: Dim, C: Dim, S: Storage<N, R, C>>
     Matrix<N, R, C, S>
 {
@@ -1655,7 +1770,7 @@ impl<N: Scalar + ClosedAdd + ClosedSub + ClosedMul, R: Dim, C: Dim, S: Storage<N
         }
     }
 
-    // FIXME: use specialization instead of an assertion.
+    // TODO: use specialization instead of an assertion.
     /// The 3D cross product between two vectors.
     ///
     /// Panics if the shape is not 3D vector. In the future, this will be implemented only for
@@ -1679,7 +1794,7 @@ impl<N: Scalar + ClosedAdd + ClosedSub + ClosedMul, R: Dim, C: Dim, S: Storage<N
 
         if shape.0 == 3 {
             unsafe {
-                // FIXME: soooo ugly!
+                // TODO: soooo ugly!
                 let nrows = SameShapeR::<R, R2>::from_usize(3);
                 let ncols = SameShapeC::<C, C2>::from_usize(1);
                 let mut res = Matrix::new_uninitialized_generic(nrows, ncols);
@@ -1703,7 +1818,7 @@ impl<N: Scalar + ClosedAdd + ClosedSub + ClosedMul, R: Dim, C: Dim, S: Storage<N
             }
         } else {
             unsafe {
-                // FIXME: ugly!
+                // TODO: ugly!
                 let nrows = SameShapeR::<R, R2>::from_usize(1);
                 let ncols = SameShapeC::<C, C2>::from_usize(3);
                 let mut res = Matrix::new_uninitialized_generic(nrows, ncols);
@@ -1772,96 +1887,6 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     }
 }
 
-impl<N: Scalar + Zero + One + ClosedAdd + ClosedSub + ClosedMul, D: Dim, S: Storage<N, D>>
-    Vector<N, D, S>
-{
-    /// Returns `self * (1.0 - t) + rhs * t`, i.e., the linear blend of the vectors x and y using the scalar value a.
-    ///
-    /// The value for a is not restricted to the range `[0, 1]`.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// let x = Vector3::new(1.0, 2.0, 3.0);
-    /// let y = Vector3::new(10.0, 20.0, 30.0);
-    /// assert_eq!(x.lerp(&y, 0.1), Vector3::new(1.9, 3.8, 5.7));
-    /// ```
-    pub fn lerp<S2: Storage<N, D>>(&self, rhs: &Vector<N, D, S2>, t: N) -> VectorN<N, D>
-    where
-        DefaultAllocator: Allocator<N, D>,
-    {
-        let mut res = self.clone_owned();
-        res.axpy(t.inlined_clone(), rhs, N::one() - t);
-        res
-    }
-}
-
-impl<N: RealField, D: Dim, S: Storage<N, D>> Unit<Vector<N, D, S>> {
-    /// Computes the spherical linear interpolation between two unit vectors.
-    ///
-    /// # Examples:
-    ///
-    /// ```
-    /// # use nalgebra::{Unit, Vector2};
-    ///
-    /// let v1 = Unit::new_normalize(Vector2::new(1.0, 2.0));
-    /// let v2 = Unit::new_normalize(Vector2::new(2.0, -3.0));
-    ///
-    /// let v = v1.slerp(&v2, 1.0);
-    ///
-    /// assert_eq!(v, v2);
-    /// ```
-    pub fn slerp<S2: Storage<N, D>>(
-        &self,
-        rhs: &Unit<Vector<N, D, S2>>,
-        t: N,
-    ) -> Unit<VectorN<N, D>>
-    where
-        DefaultAllocator: Allocator<N, D>,
-    {
-        // FIXME: the result is wrong when self and rhs are collinear with opposite direction.
-        self.try_slerp(rhs, t, N::default_epsilon())
-            .unwrap_or(Unit::new_unchecked(self.clone_owned()))
-    }
-
-    /// Computes the spherical linear interpolation between two unit vectors.
-    ///
-    /// Returns `None` if the two vectors are almost collinear and with opposite direction
-    /// (in this case, there is an infinity of possible results).
-    pub fn try_slerp<S2: Storage<N, D>>(
-        &self,
-        rhs: &Unit<Vector<N, D, S2>>,
-        t: N,
-        epsilon: N,
-    ) -> Option<Unit<VectorN<N, D>>>
-    where
-        DefaultAllocator: Allocator<N, D>,
-    {
-        let c_hang = self.dot(rhs);
-
-        // self == other
-        if c_hang >= N::one() {
-            return Some(Unit::new_unchecked(self.clone_owned()));
-        }
-
-        let hang = c_hang.acos();
-        let s_hang = (N::one() - c_hang * c_hang).sqrt();
-
-        // FIXME: what if s_hang is 0.0 ? The result is not well-defined.
-        if relative_eq!(s_hang, N::zero(), epsilon = epsilon) {
-            None
-        } else {
-            let ta = ((N::one() - t) * hang).sin() / s_hang;
-            let tb = (t * hang).sin() / s_hang;
-            let mut res = self.scale(ta);
-            res.axpy(tb, &**rhs, N::one());
-
-            Some(Unit::new_unchecked(res))
-        }
-    }
-}
-
 impl<N, R: Dim, C: Dim, S> AbsDiffEq for Unit<Matrix<N, R, C, S>>
 where
     N: Scalar + AbsDiffEq,

src/base/matrix_alga.rs

@@ -214,7 +214,7 @@ where
     }
 }
 
-// FIXME: specialization will greatly simplify this implementation in the future.
+// TODO: specialization will greatly simplify this implementation in the future.
 // In particular:
 //   − use `x()` instead of `::canonical_basis_element`
 //   − use `::new(x, y, z)` instead of `::from_slice`
@@ -244,7 +244,7 @@ where
                 .try_normalize_mut(<N as ComplexField>::RealField::zero())
                 .is_some()
             {
-                // FIXME: this will be efficient on dynamically-allocated vectors but for
+                // TODO: this will be efficient on dynamically-allocated vectors but for
                 // statically-allocated ones, `.clone_from` would be better.
                 vs.swap(nbasis_elements, i);
                 nbasis_elements += 1;
@@ -264,7 +264,7 @@ where
     where
         F: FnMut(&Self) -> bool,
     {
-        // FIXME: is this necessary?
+        // TODO: is this necessary?
         assert!(
             vs.len() <= Self::dimension(),
             "The given set of vectors has no chance of being a free family."

src/base/matrix_slice.rs

@@ -274,11 +274,6 @@ macro_rules! matrix_slice_impl(
      $generic_slice_with_steps: ident,
      $rows_range_pair: ident,
      $columns_range_pair: ident) => {
-        /// A matrix slice.
-        pub type $MatrixSlice<'a, N, R, C, RStride, CStride>
-        = Matrix<N, R, C, $SliceStorage<'a, N, R, C, RStride, CStride>>;
-
-        impl<N: Scalar, R: Dim, C: Dim, S: $Storage<N, R, C>> Matrix<N, R, C, S> {
         /*
          *
          * Row slicing.
@@ -631,10 +626,18 @@ macro_rules! matrix_slice_impl(
             }
         }
     }
-    }
 );
 
-matrix_slice_impl!(
+/// A matrix slice.
+pub type MatrixSlice<'a, N, R, C, RStride, CStride> =
+    Matrix<N, R, C, SliceStorage<'a, N, R, C, RStride, CStride>>;
+/// A mutable matrix slice.
+pub type MatrixSliceMut<'a, N, R, C, RStride, CStride> =
+    Matrix<N, R, C, SliceStorageMut<'a, N, R, C, RStride, CStride>>;
+
+/// # Slicing based on index and length
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    matrix_slice_impl!(
      self: &Self, MatrixSlice, SliceStorage, Storage.get_address_unchecked(), &self.data;
      row,
      row_part,
@@ -660,8 +663,11 @@ matrix_slice_impl!(
      generic_slice_with_steps,
      rows_range_pair,
      columns_range_pair);
+}
 
-matrix_slice_impl!(
+/// # Mutable slicing based on index and length
+impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
+    matrix_slice_impl!(
      self: &mut Self, MatrixSliceMut, SliceStorageMut, StorageMut.get_address_unchecked_mut(), &mut self.data;
      row_mut,
      row_part_mut,
@@ -687,6 +693,7 @@ matrix_slice_impl!(
      generic_slice_with_steps_mut,
      rows_range_pair_mut,
      columns_range_pair_mut);
+}
 
 /// A range with a size that may be known at compile-time.
 ///
@@ -803,6 +810,8 @@ impl<D: Dim> SliceRange<D> for RangeFull {
     }
 }
 
+// TODO: see how much of this overlaps with the general indexing
+// methods from indexing.rs.
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Slices a sub-matrix containing the rows indexed by the range `rows` and the columns indexed
     /// by the range `cols`.
@@ -842,6 +851,8 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 }
 
+// TODO: see how much of this overlaps with the general indexing
+// methods from indexing.rs.
 impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Slices a mutable sub-matrix containing the rows indexed by the range `rows` and the columns
     /// indexed by the range `cols`.

src/base/min_max.rs

@@ -0,0 +1,390 @@
+use crate::storage::Storage;
+use crate::{ComplexField, Dim, Matrix, Scalar, SimdComplexField, SimdPartialOrd, Vector};
+use num::{Signed, Zero};
+use simba::simd::SimdSigned;
+
+/// # Find the min and max components
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /// Returns the absolute value of the component with the largest absolute value.
+    /// # Example
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// assert_eq!(Vector3::new(-1.0, 2.0, 3.0).amax(), 3.0);
+    /// assert_eq!(Vector3::new(-1.0, -2.0, -3.0).amax(), 3.0);
+    /// ```
+    #[inline]
+    pub fn amax(&self) -> N
+    where
+        N: Zero + SimdSigned + SimdPartialOrd,
+    {
+        self.fold_with(
+            |e| e.unwrap_or(&N::zero()).simd_abs(),
+            |a, b| a.simd_max(b.simd_abs()),
+        )
+    }
+
+    /// Returns the the 1-norm of the complex component with the largest 1-norm.
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Vector3, Complex};
+    /// assert_eq!(Vector3::new(
+    ///     Complex::new(-3.0, -2.0),
+    ///     Complex::new(1.0, 2.0),
+    ///     Complex::new(1.0, 3.0)).camax(), 5.0);
+    /// ```
+    #[inline]
+    pub fn camax(&self) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
+        self.fold_with(
+            |e| e.unwrap_or(&N::zero()).simd_norm1(),
+            |a, b| a.simd_max(b.simd_norm1()),
+        )
+    }
+
+    /// Returns the component with the largest value.
+    /// # Example
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// assert_eq!(Vector3::new(-1.0, 2.0, 3.0).max(), 3.0);
+    /// assert_eq!(Vector3::new(-1.0, -2.0, -3.0).max(), -1.0);
+    /// assert_eq!(Vector3::new(5u32, 2, 3).max(), 5);
+    /// ```
+    #[inline]
+    pub fn max(&self) -> N
+    where
+        N: SimdPartialOrd + Zero,
+    {
+        self.fold_with(
+            |e| e.map(|e| e.inlined_clone()).unwrap_or(N::zero()),
+            |a, b| a.simd_max(b.inlined_clone()),
+        )
+    }
+
+    /// Returns the absolute value of the component with the smallest absolute value.
+    /// # Example
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// assert_eq!(Vector3::new(-1.0, 2.0, -3.0).amin(), 1.0);
+    /// assert_eq!(Vector3::new(10.0, 2.0, 30.0).amin(), 2.0);
+    /// ```
+    #[inline]
+    pub fn amin(&self) -> N
+    where
+        N: Zero + SimdPartialOrd + SimdSigned,
+    {
+        self.fold_with(
+            |e| e.map(|e| e.simd_abs()).unwrap_or(N::zero()),
+            |a, b| a.simd_min(b.simd_abs()),
+        )
+    }
+
+    /// Returns the the 1-norm of the complex component with the smallest 1-norm.
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Vector3, Complex};
+    /// assert_eq!(Vector3::new(
+    ///     Complex::new(-3.0, -2.0),
+    ///     Complex::new(1.0, 2.0),
+    ///     Complex::new(1.0, 3.0)).camin(), 3.0);
+    /// ```
+    #[inline]
+    pub fn camin(&self) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
+        self.fold_with(
+            |e| {
+                e.map(|e| e.simd_norm1())
+                    .unwrap_or(N::SimdRealField::zero())
+            },
+            |a, b| a.simd_min(b.simd_norm1()),
+        )
+    }
+
+    /// Returns the component with the smallest value.
+    /// # Example
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// assert_eq!(Vector3::new(-1.0, 2.0, 3.0).min(), -1.0);
+    /// assert_eq!(Vector3::new(1.0, 2.0, 3.0).min(), 1.0);
+    /// assert_eq!(Vector3::new(5u32, 2, 3).min(), 2);
+    /// ```
+    #[inline]
+    pub fn min(&self) -> N
+    where
+        N: SimdPartialOrd + Zero,
+    {
+        self.fold_with(
+            |e| e.map(|e| e.inlined_clone()).unwrap_or(N::zero()),
+            |a, b| a.simd_min(b.inlined_clone()),
+        )
+    }
+
+    /// Computes the index of the matrix component with the largest absolute value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # extern crate num_complex;
+    /// # extern crate nalgebra;
+    /// # use num_complex::Complex;
+    /// # use nalgebra::Matrix2x3;
+    /// let mat = Matrix2x3::new(Complex::new(11.0, 1.0), Complex::new(-12.0, 2.0), Complex::new(13.0, 3.0),
+    ///                          Complex::new(21.0, 43.0), Complex::new(22.0, 5.0), Complex::new(-23.0, 0.0));
+    /// assert_eq!(mat.icamax_full(), (1, 0));
+    /// ```
+    #[inline]
+    pub fn icamax_full(&self) -> (usize, usize)
+    where
+        N: ComplexField,
+    {
+        assert!(!self.is_empty(), "The input matrix must not be empty.");
+
+        let mut the_max = unsafe { self.get_unchecked((0, 0)).norm1() };
+        let mut the_ij = (0, 0);
+
+        for j in 0..self.ncols() {
+            for i in 0..self.nrows() {
+                let val = unsafe { self.get_unchecked((i, j)).norm1() };
+
+                if val > the_max {
+                    the_max = val;
+                    the_ij = (i, j);
+                }
+            }
+        }
+
+        the_ij
+    }
+}
+
+impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /// Computes the index of the matrix component with the largest absolute value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Matrix2x3;
+    /// let mat = Matrix2x3::new(11, -12, 13,
+    ///                          21, 22, -23);
+    /// assert_eq!(mat.iamax_full(), (1, 2));
+    /// ```
+    #[inline]
+    pub fn iamax_full(&self) -> (usize, usize) {
+        assert!(!self.is_empty(), "The input matrix must not be empty.");
+
+        let mut the_max = unsafe { self.get_unchecked((0, 0)).abs() };
+        let mut the_ij = (0, 0);
+
+        for j in 0..self.ncols() {
+            for i in 0..self.nrows() {
+                let val = unsafe { self.get_unchecked((i, j)).abs() };
+
+                if val > the_max {
+                    the_max = val;
+                    the_ij = (i, j);
+                }
+            }
+        }
+
+        the_ij
+    }
+}
+
+// TODO: find a way to avoid code duplication just for complex number support.
+/// # Find the min and max components (vector-specific methods)
+impl<N: Scalar, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
+    /// Computes the index of the vector component with the largest complex or real absolute value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # extern crate num_complex;
+    /// # extern crate nalgebra;
+    /// # use num_complex::Complex;
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(Complex::new(11.0, 3.0), Complex::new(-15.0, 0.0), Complex::new(13.0, 5.0));
+    /// assert_eq!(vec.icamax(), 2);
+    /// ```
+    #[inline]
+    pub fn icamax(&self) -> usize
+    where
+        N: ComplexField,
+    {
+        assert!(!self.is_empty(), "The input vector must not be empty.");
+
+        let mut the_max = unsafe { self.vget_unchecked(0).norm1() };
+        let mut the_i = 0;
+
+        for i in 1..self.nrows() {
+            let val = unsafe { self.vget_unchecked(i).norm1() };
+
+            if val > the_max {
+                the_max = val;
+                the_i = i;
+            }
+        }
+
+        the_i
+    }
+
+    /// Computes the index and value of the vector component with the largest value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.argmax(), (2, 13));
+    /// ```
+    #[inline]
+    pub fn argmax(&self) -> (usize, N)
+    where
+        N: PartialOrd,
+    {
+        assert!(!self.is_empty(), "The input vector must not be empty.");
+
+        let mut the_max = unsafe { self.vget_unchecked(0) };
+        let mut the_i = 0;
+
+        for i in 1..self.nrows() {
+            let val = unsafe { self.vget_unchecked(i) };
+
+            if val > the_max {
+                the_max = val;
+                the_i = i;
+            }
+        }
+
+        (the_i, the_max.inlined_clone())
+    }
+
+    /// Computes the index of the vector component with the largest value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.imax(), 2);
+    /// ```
+    #[inline]
+    pub fn imax(&self) -> usize
+    where
+        N: PartialOrd,
+    {
+        self.argmax().0
+    }
+
+    /// Computes the index of the vector component with the largest absolute value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.iamax(), 1);
+    /// ```
+    #[inline]
+    pub fn iamax(&self) -> usize
+    where
+        N: PartialOrd + Signed,
+    {
+        assert!(!self.is_empty(), "The input vector must not be empty.");
+
+        let mut the_max = unsafe { self.vget_unchecked(0).abs() };
+        let mut the_i = 0;
+
+        for i in 1..self.nrows() {
+            let val = unsafe { self.vget_unchecked(i).abs() };
+
+            if val > the_max {
+                the_max = val;
+                the_i = i;
+            }
+        }
+
+        the_i
+    }
+
+    /// Computes the index and value of the vector component with the smallest value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.argmin(), (1, -15));
+    /// ```
+    #[inline]
+    pub fn argmin(&self) -> (usize, N)
+    where
+        N: PartialOrd,
+    {
+        assert!(!self.is_empty(), "The input vector must not be empty.");
+
+        let mut the_min = unsafe { self.vget_unchecked(0) };
+        let mut the_i = 0;
+
+        for i in 1..self.nrows() {
+            let val = unsafe { self.vget_unchecked(i) };
+
+            if val < the_min {
+                the_min = val;
+                the_i = i;
+            }
+        }
+
+        (the_i, the_min.inlined_clone())
+    }
+
+    /// Computes the index of the vector component with the smallest value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.imin(), 1);
+    /// ```
+    #[inline]
+    pub fn imin(&self) -> usize
+    where
+        N: PartialOrd,
+    {
+        self.argmin().0
+    }
+
+    /// Computes the index of the vector component with the smallest absolute value.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::Vector3;
+    /// let vec = Vector3::new(11, -15, 13);
+    /// assert_eq!(vec.iamin(), 0);
+    /// ```
+    #[inline]
+    pub fn iamin(&self) -> usize
+    where
+        N: PartialOrd + Signed,
+    {
+        assert!(!self.is_empty(), "The input vector must not be empty.");
+
+        let mut the_min = unsafe { self.vget_unchecked(0).abs() };
+        let mut the_i = 0;
+
+        for i in 1..self.nrows() {
+            let val = unsafe { self.vget_unchecked(i).abs() };
+
+            if val < the_min {
+                the_min = val;
+                the_i = i;
+            }
+        }
+
+        the_i
+    }
+}

src/base/mod.rs

@@ -36,6 +36,8 @@ mod vec_storage;
 
 #[doc(hidden)]
 pub mod helper;
+mod interpolation;
+mod min_max;
 
 pub use self::matrix::*;
 pub use self::norm::*;

src/base/norm.rs

@@ -12,7 +12,7 @@ use crate::{ComplexField, Scalar, SimdComplexField, Unit};
 use simba::scalar::ClosedNeg;
 use simba::simd::{SimdOption, SimdPartialOrd};
 
-// FIXME: this should be be a trait on alga?
+// TODO: this should be be a trait on alga?
 /// A trait for abstract matrix norms.
 ///
 /// This may be moved to the alga crate in the future.
@@ -154,10 +154,14 @@ impl<N: SimdComplexField> Norm<N> for UniformNorm {
     }
 }
 
-impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+/// # Magnitude and norms
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// The squared L2 norm of this vector.
     #[inline]
-    pub fn norm_squared(&self) -> N::SimdRealField {
+    pub fn norm_squared(&self) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
         let mut res = N::SimdRealField::zero();
 
         for i in 0..self.ncols() {
@@ -172,7 +176,10 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     ///
     /// Use `.apply_norm` to apply a custom norm.
     #[inline]
-    pub fn norm(&self) -> N::SimdRealField {
+    pub fn norm(&self) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
         self.norm_squared().simd_sqrt()
     }
 
@@ -182,6 +189,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     #[inline]
     pub fn metric_distance<R2, C2, S2>(&self, rhs: &Matrix<N, R2, C2, S2>) -> N::SimdRealField
     where
+        N: SimdComplexField,
         R2: Dim,
         C2: Dim,
         S2: Storage<N, R2, C2>,
@@ -203,7 +211,10 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     /// assert_eq!(v.apply_norm(&EuclideanNorm), v.norm());
     /// ```
     #[inline]
-    pub fn apply_norm(&self, norm: &impl Norm<N>) -> N::SimdRealField {
+    pub fn apply_norm(&self, norm: &impl Norm<N>) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
         norm.norm(self)
     }
 
@@ -228,6 +239,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
         norm: &impl Norm<N>,
     ) -> N::SimdRealField
     where
+        N: SimdComplexField,
         R2: Dim,
         C2: Dim,
         S2: Storage<N, R2, C2>,
@@ -242,7 +254,10 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     ///
     /// This function is simply implemented as a call to `norm()`
     #[inline]
-    pub fn magnitude(&self) -> N::SimdRealField {
+    pub fn magnitude(&self) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
         self.norm()
     }
 
@@ -252,7 +267,10 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     ///
     /// This function is simply implemented as a call to `norm_squared()`
     #[inline]
-    pub fn magnitude_squared(&self) -> N::SimdRealField {
+    pub fn magnitude_squared(&self) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
         self.norm_squared()
     }
 
@@ -260,6 +278,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     #[inline]
     pub fn set_magnitude(&mut self, magnitude: N::SimdRealField)
     where
+        N: SimdComplexField,
         S: StorageMut<N, R, C>,
     {
         let n = self.norm();
@@ -271,6 +290,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     #[must_use = "Did you mean to use normalize_mut()?"]
     pub fn normalize(&self) -> MatrixMN<N, R, C>
     where
+        N: SimdComplexField,
         DefaultAllocator: Allocator<N, R, C>,
     {
         self.unscale(self.norm())
@@ -278,7 +298,10 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
 
     /// The Lp norm of this matrix.
     #[inline]
-    pub fn lp_norm(&self, p: i32) -> N::SimdRealField {
+    pub fn lp_norm(&self, p: i32) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
         self.apply_norm(&LpNorm(p))
     }
 
@@ -289,6 +312,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
     #[must_use = "Did you mean to use simd_try_normalize_mut()?"]
     pub fn simd_try_normalize(&self, min_norm: N::SimdRealField) -> SimdOption<MatrixMN<N, R, C>>
     where
+        N: SimdComplexField,
         N::Element: Scalar,
         DefaultAllocator: Allocator<N, R, C> + Allocator<N::Element, R, C>,
     {
@@ -297,9 +321,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
         let val = self.unscale(n);
         SimdOption::new(val, le)
     }
-}
 
-impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Sets the magnitude of this vector unless it is smaller than `min_magnitude`.
     ///
     /// If `self.magnitude()` is smaller than `min_magnitude`, it will be left unchanged.
@@ -307,6 +329,7 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     #[inline]
     pub fn try_set_magnitude(&mut self, magnitude: N::RealField, min_magnitude: N::RealField)
     where
+        N: ComplexField,
         S: StorageMut<N, R, C>,
     {
         let n = self.norm();
@@ -323,6 +346,7 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     #[must_use = "Did you mean to use try_normalize_mut()?"]
     pub fn try_normalize(&self, min_norm: N::RealField) -> Option<MatrixMN<N, R, C>>
     where
+        N: ComplexField,
         DefaultAllocator: Allocator<N, R, C>,
     {
         let n = self.norm();
@@ -335,12 +359,16 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 }
 
-impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
+/// # In-place normalization
+impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Normalizes this matrix in-place and returns its norm.
     ///
     /// The components of the matrix cannot be SIMD types (see `simd_try_normalize_mut` instead).
     #[inline]
-    pub fn normalize_mut(&mut self) -> N::SimdRealField {
+    pub fn normalize_mut(&mut self) -> N::SimdRealField
+    where
+        N: SimdComplexField,
+    {
         let n = self.norm();
         self.unscale_mut(n);
 
@@ -357,6 +385,7 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C
         min_norm: N::SimdRealField,
     ) -> SimdOption<N::SimdRealField>
     where
+        N: SimdComplexField,
         N::Element: Scalar,
         DefaultAllocator: Allocator<N, R, C> + Allocator<N::Element, R, C>,
     {
@@ -365,14 +394,15 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C
         self.apply(|e| e.simd_unscale(n).select(le, e));
         SimdOption::new(n, le)
     }
-}
 
-impl<N: ComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Normalizes this matrix in-place or does nothing if its norm is smaller or equal to `eps`.
     ///
     /// If the normalization succeeded, returns the old norm of this matrix.
     #[inline]
-    pub fn try_normalize_mut(&mut self, min_norm: N::RealField) -> Option<N::RealField> {
+    pub fn try_normalize_mut(&mut self, min_norm: N::RealField) -> Option<N::RealField>
+    where
+        N: ComplexField,
+    {
         let n = self.norm();
 
         if n <= min_norm {
@@ -423,10 +453,11 @@ where
     }
 }
 
-// FIXME: specialization will greatly simplify this implementation in the future.
+// TODO: specialization will greatly simplify this implementation in the future.
 // In particular:
 //   − use `x()` instead of `::canonical_basis_element`
 //   − use `::new(x, y, z)` instead of `::from_slice`
+/// # Basis and orthogonalization
 impl<N: ComplexField, D: DimName> VectorN<N, D>
 where
     DefaultAllocator: Allocator<N, D>,
@@ -461,7 +492,7 @@ where
             }
 
             if vs[i].try_normalize_mut(N::RealField::zero()).is_some() {
-                // FIXME: this will be efficient on dynamically-allocated vectors but for
+                // TODO: this will be efficient on dynamically-allocated vectors but for
                 // statically-allocated ones, `.clone_from` would be better.
                 vs.swap(nbasis_elements, i);
                 nbasis_elements += 1;
@@ -479,13 +510,13 @@ where
     /// Applies the given closure to each element of the orthonormal basis of the subspace
     /// orthogonal to free family of vectors `vs`. If `vs` is not a free family, the result is
     /// unspecified.
-    // FIXME: return an iterator instead when `-> impl Iterator` will be supported by Rust.
+    // TODO: return an iterator instead when `-> impl Iterator` will be supported by Rust.
     #[inline]
     pub fn orthonormal_subspace_basis<F>(vs: &[Self], mut f: F)
     where
         F: FnMut(&Self) -> bool,
     {
-        // FIXME: is this necessary?
+        // TODO: is this necessary?
         assert!(
             vs.len() <= D::dim(),
             "The given set of vectors has no chance of being a free family."

src/base/ops.rs

@@ -158,7 +158,7 @@ macro_rules! componentwise_binop_impl(
                 assert_eq!(self.shape(), out.shape(), "Matrix addition/subtraction output dimensions mismatch.");
 
                 // This is the most common case and should be deduced at compile-time.
-                // FIXME: use specialization instead?
+                // TODO: use specialization instead?
                 if self.data.is_contiguous() && rhs.data.is_contiguous() && out.data.is_contiguous() {
                     let arr1 = self.data.as_slice();
                     let arr2 = rhs.data.as_slice();
@@ -191,7 +191,7 @@ macro_rules! componentwise_binop_impl(
                 assert_eq!(self.shape(), rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
 
                 // This is the most common case and should be deduced at compile-time.
-                // FIXME: use specialization instead?
+                // TODO: use specialization instead?
                 if self.data.is_contiguous() && rhs.data.is_contiguous() {
                     let arr1 = self.data.as_mut_slice();
                     let arr2 = rhs.data.as_slice();
@@ -221,7 +221,7 @@ macro_rules! componentwise_binop_impl(
                 assert_eq!(self.shape(), rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
 
                 // This is the most common case and should be deduced at compile-time.
-                // FIXME: use specialization instead?
+                // TODO: use specialization instead?
                 if self.data.is_contiguous() && rhs.data.is_contiguous() {
                     let arr1 = self.data.as_slice();
                     let arr2 = rhs.data.as_mut_slice();
@@ -633,7 +633,7 @@ where
     }
 }
 
-// FIXME: this is too restrictive:
+// TODO: this is too restrictive:
 //    − we can't use `a *= b` when `a` is a mutable slice.
 //    − we can't use `a *= b` when C2 is not equal to C1.
 impl<N, R1, C1, R2, SA, SB> MulAssign<Matrix<N, R2, C1, SB>> for Matrix<N, R1, C1, SA>
@@ -662,7 +662,7 @@ where
     SB: Storage<N, R2, C1>,
     SA: ContiguousStorageMut<N, R1, C1> + Clone,
     ShapeConstraint: AreMultipliable<R1, C1, R2, C1>,
-    // FIXME: this is too restrictive. See comments for the non-ref version.
+    // TODO: this is too restrictive. See comments for the non-ref version.
     DefaultAllocator: Allocator<N, R1, C1, Buffer = SA>,
 {
     #[inline]
@@ -671,7 +671,7 @@ where
     }
 }
 
-// Transpose-multiplication.
+/// # Special multiplications.
 impl<N, R1: Dim, C1: Dim, SA> Matrix<N, R1, C1, SA>
 where
     N: Scalar + Zero + One + ClosedAdd + ClosedMul,
@@ -843,31 +843,6 @@ where
     }
 }
 
-impl<N: Scalar + ClosedAdd, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
-    /// Adds a scalar to `self`.
-    #[inline]
-    #[must_use = "Did you mean to use add_scalar_mut()?"]
-    pub fn add_scalar(&self, rhs: N) -> MatrixMN<N, R, C>
-    where
-        DefaultAllocator: Allocator<N, R, C>,
-    {
-        let mut res = self.clone_owned();
-        res.add_scalar_mut(rhs);
-        res
-    }
-
-    /// Adds a scalar to `self` in-place.
-    #[inline]
-    pub fn add_scalar_mut(&mut self, rhs: N)
-    where
-        S: StorageMut<N, R, C>,
-    {
-        for e in self.iter_mut() {
-            *e += rhs.inlined_clone()
-        }
-    }
-}
-
 impl<N, D: DimName> iter::Product for MatrixN<N, D>
 where
     N: Scalar + Zero + One + ClosedMul + ClosedAdd,
@@ -887,122 +862,3 @@ where
         iter.fold(Matrix::one(), |acc, x| acc * x)
     }
 }
-
-impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
-    /// Returns the absolute value of the component with the largest absolute value.
-    /// # Example
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// assert_eq!(Vector3::new(-1.0, 2.0, 3.0).amax(), 3.0);
-    /// assert_eq!(Vector3::new(-1.0, -2.0, -3.0).amax(), 3.0);
-    /// ```
-    #[inline]
-    pub fn amax(&self) -> N
-    where
-        N: Zero + SimdSigned + SimdPartialOrd,
-    {
-        self.fold_with(
-            |e| e.unwrap_or(&N::zero()).simd_abs(),
-            |a, b| a.simd_max(b.simd_abs()),
-        )
-    }
-
-    /// Returns the the 1-norm of the complex component with the largest 1-norm.
-    /// # Example
-    /// ```
-    /// # use nalgebra::{Vector3, Complex};
-    /// assert_eq!(Vector3::new(
-    ///     Complex::new(-3.0, -2.0),
-    ///     Complex::new(1.0, 2.0),
-    ///     Complex::new(1.0, 3.0)).camax(), 5.0);
-    /// ```
-    #[inline]
-    pub fn camax(&self) -> N::SimdRealField
-    where
-        N: SimdComplexField,
-    {
-        self.fold_with(
-            |e| e.unwrap_or(&N::zero()).simd_norm1(),
-            |a, b| a.simd_max(b.simd_norm1()),
-        )
-    }
-
-    /// Returns the component with the largest value.
-    /// # Example
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// assert_eq!(Vector3::new(-1.0, 2.0, 3.0).max(), 3.0);
-    /// assert_eq!(Vector3::new(-1.0, -2.0, -3.0).max(), -1.0);
-    /// assert_eq!(Vector3::new(5u32, 2, 3).max(), 5);
-    /// ```
-    #[inline]
-    pub fn max(&self) -> N
-    where
-        N: SimdPartialOrd + Zero,
-    {
-        self.fold_with(
-            |e| e.map(|e| e.inlined_clone()).unwrap_or(N::zero()),
-            |a, b| a.simd_max(b.inlined_clone()),
-        )
-    }
-
-    /// Returns the absolute value of the component with the smallest absolute value.
-    /// # Example
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// assert_eq!(Vector3::new(-1.0, 2.0, -3.0).amin(), 1.0);
-    /// assert_eq!(Vector3::new(10.0, 2.0, 30.0).amin(), 2.0);
-    /// ```
-    #[inline]
-    pub fn amin(&self) -> N
-    where
-        N: Zero + SimdPartialOrd + SimdSigned,
-    {
-        self.fold_with(
-            |e| e.map(|e| e.simd_abs()).unwrap_or(N::zero()),
-            |a, b| a.simd_min(b.simd_abs()),
-        )
-    }
-
-    /// Returns the the 1-norm of the complex component with the smallest 1-norm.
-    /// # Example
-    /// ```
-    /// # use nalgebra::{Vector3, Complex};
-    /// assert_eq!(Vector3::new(
-    ///     Complex::new(-3.0, -2.0),
-    ///     Complex::new(1.0, 2.0),
-    ///     Complex::new(1.0, 3.0)).camin(), 3.0);
-    /// ```
-    #[inline]
-    pub fn camin(&self) -> N::SimdRealField
-    where
-        N: SimdComplexField,
-    {
-        self.fold_with(
-            |e| {
-                e.map(|e| e.simd_norm1())
-                    .unwrap_or(N::SimdRealField::zero())
-            },
-            |a, b| a.simd_min(b.simd_norm1()),
-        )
-    }
-
-    /// Returns the component with the smallest value.
-    /// # Example
-    /// ```
-    /// # use nalgebra::Vector3;
-    /// assert_eq!(Vector3::new(-1.0, 2.0, 3.0).min(), -1.0);
-    /// assert_eq!(Vector3::new(1.0, 2.0, 3.0).min(), 1.0);
-    /// assert_eq!(Vector3::new(5u32, 2, 3).min(), 2);
-    /// ```
-    #[inline]
-    pub fn min(&self) -> N
-    where
-        N: SimdPartialOrd + Zero,
-    {
-        self.fold_with(
-            |e| e.map(|e| e.inlined_clone()).unwrap_or(N::zero()),
-            |a, b| a.simd_min(b.inlined_clone()),
-        )
-    }
-}

src/base/properties.rs

@@ -24,7 +24,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         nrows == ncols
     }
 
-    // FIXME: RelativeEq prevents us from using those methods on integer matrices…
+    // TODO: RelativeEq prevents us from using those methods on integer matrices…
     /// Indicated if this is the identity matrix within a relative error of `eps`.
     ///
     /// If the matrix is diagonal, this checks that diagonal elements (i.e. at coordinates `(i, i)`
@@ -64,7 +64,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         // Off-diagonal elements of the sub-square matrix.
         for i in 1..d {
             for j in 0..i {
-                // FIXME: use unsafe indexing.
+                // TODO: use unsafe indexing.
                 if !relative_eq!(self[(i, j)], N::zero(), epsilon = eps)
                     || !relative_eq!(self[(j, i)], N::zero(), epsilon = eps)
                 {
@@ -118,7 +118,7 @@ where
     /// Returns `true` if this matrix is invertible.
     #[inline]
     pub fn is_invertible(&self) -> bool {
-        // FIXME: improve this?
+        // TODO: improve this?
         self.clone_owned().try_inverse().is_some()
     }
 }

src/base/statistics.rs

@@ -4,6 +4,7 @@ use crate::{DefaultAllocator, Dim, Matrix, RowVectorN, Scalar, VectorN, VectorSl
 use num::Zero;
 use simba::scalar::{ClosedAdd, Field, SupersetOf};
 
+/// # Folding on columns and rows
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Returns a row vector where each element is the result of the application of `f` on the
     /// corresponding column of the original matrix.
@@ -19,7 +20,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         let mut res = unsafe { RowVectorN::new_uninitialized_generic(U1, ncols) };
 
         for i in 0..ncols.value() {
-            // FIXME: avoid bound checking of column.
+            // TODO: avoid bound checking of column.
             unsafe {
                 *res.get_unchecked_mut((0, i)) = f(self.column(i));
             }
@@ -44,7 +45,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         let mut res = unsafe { VectorN::new_uninitialized_generic(ncols, U1) };
 
         for i in 0..ncols.value() {
-            // FIXME: avoid bound checking of column.
+            // TODO: avoid bound checking of column.
             unsafe {
                 *res.vget_unchecked_mut(i) = f(self.column(i));
             }
@@ -73,7 +74,8 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 }
 
-impl<N: Scalar + ClosedAdd + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+/// # Common statistics operations
+impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /*
      *
      * Sum computation.
@@ -91,7 +93,10 @@ impl<N: Scalar + ClosedAdd + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N
     /// assert_eq!(m.sum(), 21.0);
     /// ```
     #[inline]
-    pub fn sum(&self) -> N {
+    pub fn sum(&self) -> N
+    where
+        N: ClosedAdd + Zero,
+    {
         self.iter().cloned().fold(N::zero(), |a, b| a + b)
     }
 
@@ -115,6 +120,7 @@ impl<N: Scalar + ClosedAdd + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N
     #[inline]
     pub fn row_sum(&self) -> RowVectorN<N, C>
     where
+        N: ClosedAdd + Zero,
         DefaultAllocator: Allocator<N, U1, C>,
     {
         self.compress_rows(|col| col.sum())
@@ -138,6 +144,7 @@ impl<N: Scalar + ClosedAdd + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N
     #[inline]
     pub fn row_sum_tr(&self) -> VectorN<N, C>
     where
+        N: ClosedAdd + Zero,
         DefaultAllocator: Allocator<N, C>,
     {
         self.compress_rows_tr(|col| col.sum())
@@ -161,6 +168,7 @@ impl<N: Scalar + ClosedAdd + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N
     #[inline]
     pub fn column_sum(&self) -> VectorN<N, R>
     where
+        N: ClosedAdd + Zero,
         DefaultAllocator: Allocator<N, R>,
     {
         let nrows = self.data.shape().0;
@@ -168,9 +176,7 @@ impl<N: Scalar + ClosedAdd + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N
             *out += col;
         })
     }
-}
 
-impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /*
      *
      * Variance computation.
@@ -189,7 +195,10 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     /// assert_relative_eq!(m.variance(), 35.0 / 12.0, epsilon = 1.0e-8);
     /// ```
     #[inline]
-    pub fn variance(&self) -> N {
+    pub fn variance(&self) -> N
+    where
+        N: Field + SupersetOf<f64>,
+    {
         if self.len() == 0 {
             N::zero()
         } else {
@@ -217,6 +226,7 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     #[inline]
     pub fn row_variance(&self) -> RowVectorN<N, C>
     where
+        N: Field + SupersetOf<f64>,
         DefaultAllocator: Allocator<N, U1, C>,
     {
         self.compress_rows(|col| col.variance())
@@ -236,6 +246,7 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     #[inline]
     pub fn row_variance_tr(&self) -> VectorN<N, C>
     where
+        N: Field + SupersetOf<f64>,
         DefaultAllocator: Allocator<N, C>,
     {
         self.compress_rows_tr(|col| col.variance())
@@ -256,6 +267,7 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     #[inline]
     pub fn column_variance(&self) -> VectorN<N, R>
     where
+        N: Field + SupersetOf<f64>,
         DefaultAllocator: Allocator<N, R>,
     {
         let (nrows, ncols) = self.data.shape();
@@ -292,7 +304,10 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     /// assert_eq!(m.mean(), 3.5);
     /// ```
     #[inline]
-    pub fn mean(&self) -> N {
+    pub fn mean(&self) -> N
+    where
+        N: Field + SupersetOf<f64>,
+    {
         if self.len() == 0 {
             N::zero()
         } else {
@@ -316,6 +331,7 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     #[inline]
     pub fn row_mean(&self) -> RowVectorN<N, C>
     where
+        N: Field + SupersetOf<f64>,
         DefaultAllocator: Allocator<N, U1, C>,
     {
         self.compress_rows(|col| col.mean())
@@ -335,6 +351,7 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     #[inline]
     pub fn row_mean_tr(&self) -> VectorN<N, C>
     where
+        N: Field + SupersetOf<f64>,
         DefaultAllocator: Allocator<N, C>,
     {
         self.compress_rows_tr(|col| col.mean())
@@ -354,6 +371,7 @@ impl<N: Scalar + Field + SupersetOf<f64>, R: Dim, C: Dim, S: Storage<N, R, C>> M
     #[inline]
     pub fn column_mean(&self) -> VectorN<N, R>
     where
+        N: Field + SupersetOf<f64>,
         DefaultAllocator: Allocator<N, R>,
     {
         let (nrows, ncols) = self.data.shape();

src/base/storage.rs

@@ -15,7 +15,7 @@ use crate::base::Scalar;
 pub type SameShapeStorage<N, R1, C1, R2, C2> =
     <DefaultAllocator as Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>>::Buffer;
 
-// FIXME: better name than Owned ?
+// TODO: better name than Owned ?
 /// The owned data storage that can be allocated from `S`.
 pub type Owned<N, R, C = U1> = <DefaultAllocator as Allocator<N, R, C>>::Buffer;
 
@@ -29,7 +29,7 @@ pub type CStride<N, R, C = U1> =
 
 /// The trait shared by all matrix data storage.
 ///
-/// FIXME: doc
+/// TODO: doc
 ///
 /// Note that `Self` must always have a number of elements compatible with the matrix length (given
 /// by `R` and `C` if they are known at compile-time). For example, implementors of this trait
@@ -60,7 +60,7 @@ pub unsafe trait Storage<N: Scalar, R: Dim, C: Dim = U1>: Debug + Sized {
     ///
     /// ```.ignore
     /// let lindex = self.linear_index(irow, icol);
-    /// assert!(*self.get_unchecked(irow, icol) == *self.get_unchecked_linear(lindex)
+    /// assert!(*self.get_unchecked(irow, icol) == *self.get_unchecked_linear(lindex))
     /// ```
     #[inline]
     fn linear_index(&self, irow: usize, icol: usize) -> usize {

src/base/swizzle.rs

@@ -5,22 +5,21 @@ use typenum::{self, Cmp, Greater};
 macro_rules! impl_swizzle {
     ($( where $BaseDim: ident: $( $name: ident() -> $Result: ident[$($i: expr),+] ),+ ;)* ) => {
         $(
-            impl<N: Scalar, D: DimName, S: Storage<N, D>> Vector<N, D, S>
-            where D::Value: Cmp<typenum::$BaseDim, Output=Greater>
-            {
             $(
                 /// Builds a new vector from components of `self`.
                 #[inline]
-                    pub fn $name(&self) -> $Result<N> {
+                pub fn $name(&self) -> $Result<N>
+                where D::Value: Cmp<typenum::$BaseDim, Output=Greater> {
                     $Result::new($(self[$i].inlined_clone()),*)
                 }
             )*
-            }
         )*
     }
 }
 
-impl_swizzle!(
+/// # Swizzling
+impl<N: Scalar, D: DimName, S: Storage<N, D>> Vector<N, D, S> {
+    impl_swizzle!(
         where U0: xx()  -> Vector2[0, 0],
                   xxx() -> Vector3[0, 0, 0];
 
@@ -59,4 +58,5 @@ impl_swizzle!(
                   zzx() -> Vector3[2, 2, 0],
                   zzy() -> Vector3[2, 2, 1],
                   zzz() -> Vector3[2, 2, 2];
-);
+    );
+}

src/base/unit.rs

@@ -237,7 +237,7 @@ where T::RealField: RelativeEq
 //     }
 // }
 */
-// FIXME:re-enable this impl when specialization is possible.
+// TODO:re-enable this impl when specialization is possible.
 // Currently, it is disabled so that we can have a nice output for the `UnitQuaternion` display.
 /*
 impl<T: fmt::Display> fmt::Display for Unit<T> {

src/geometry/isometry_ops.rs

@@ -13,7 +13,7 @@ use crate::geometry::{
     AbstractRotation, Isometry, Point, Rotation, Translation, UnitComplex, UnitQuaternion,
 };
 
-// FIXME: there are several cloning of rotations that we could probably get rid of (but we didn't
+// TODO: there are several cloning of rotations that we could probably get rid of (but we didn't
 // yet because that would require to add a bound like `where for<'a, 'b> &'a R: Mul<&'b R, Output = R>`
 // which is quite ugly.
 
@@ -151,7 +151,7 @@ isometry_binop_impl_all!(
 
         #[allow(clippy::suspicious_arithmetic_impl)]
         Isometry::from_parts(Translation::from(&self.translation.vector + shift),
-                             self.rotation.clone() * rhs.rotation.clone()) // FIXME: too bad we have to clone.
+                             self.rotation.clone() * rhs.rotation.clone()) // TODO: too bad we have to clone.
     };
 );
 
@@ -209,7 +209,7 @@ md_assign_impl_all!(
     DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
     (D, U1), (D, D) for D: DimName;
     self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
-    // FIXME: don't invert explicitly?
+    // TODO: don't invert explicitly?
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
@@ -226,7 +226,7 @@ md_assign_impl_all!(
     DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
     (U3, U3), (U3, U3) for;
     self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>;
-    // FIXME: don't invert explicitly?
+    // TODO: don't invert explicitly?
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
@@ -243,7 +243,7 @@ md_assign_impl_all!(
     DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
     (U2, U2), (U2, U2) for;
     self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
-    // FIXME: don't invert explicitly?
+    // TODO: don't invert explicitly?
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
@@ -261,7 +261,7 @@ isometry_binop_impl_all!(
 // Isometry × Vector
 isometry_binop_impl_all!(
     Mul, mul;
-    // FIXME: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
+    // TODO: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
     // i.e., right: Vector<N, D, S> where S: Storage<N, D>.
     self: Isometry<N, D, R>, right: VectorN<N, D>, Output = VectorN<N, D>;
     [val val] => self.rotation.transform_vector(&right);
@@ -273,7 +273,7 @@ isometry_binop_impl_all!(
 // Isometry × Unit<Vector>
 isometry_binop_impl_all!(
     Mul, mul;
-    // FIXME: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
+    // TODO: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
     // i.e., right: Vector<N, D, S> where S: Storage<N, D>.
     self: Isometry<N, D, R>, right: Unit<VectorN<N, D>>, Output = Unit<VectorN<N, D>>;
     [val val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
@@ -390,7 +390,7 @@ isometry_from_composition_impl_all!(
     self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
     Output = Isometry<N, D, Rotation<N, D>>;
     [val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // TODO: do not clone.
     [val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
 );
@@ -417,7 +417,7 @@ isometry_from_composition_impl_all!(
     self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
     Output = Isometry<N, D, Rotation<N, D>>;
     [val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // FIXME: do not clone.
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // TODO: do not clone.
     [val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
 );
@@ -428,7 +428,7 @@ isometry_from_composition_impl_all!(
     (D, D), (D, U1) for D: DimName;
     self: Rotation<N, D>, right: Isometry<N, D, Rotation<N, D>>,
     Output = Isometry<N, D, Rotation<N, D>>;
-    // FIXME: don't call inverse explicitly?
+    // TODO: don't call inverse explicitly?
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
@@ -442,7 +442,7 @@ isometry_from_composition_impl_all!(
     self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>,
     Output = Isometry<N, U3, UnitQuaternion<N>>;
     [val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // TODO: do not clone.
     [val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
 );
@@ -469,7 +469,7 @@ isometry_from_composition_impl_all!(
     self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>,
     Output = Isometry<N, U3, UnitQuaternion<N>>;
     [val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // FIXME: do not clone.
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // TODO: do not clone.
     [val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
 );
@@ -480,7 +480,7 @@ isometry_from_composition_impl_all!(
     (U4, U1), (U3, U1);
     self: UnitQuaternion<N>, right: Isometry<N, U3, UnitQuaternion<N>>,
     Output = Isometry<N, U3, UnitQuaternion<N>>;
-    // FIXME: don't call inverse explicitly?
+    // TODO: don't call inverse explicitly?
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
@@ -516,7 +516,7 @@ isometry_from_composition_impl_all!(
     self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
     Output = Isometry<N, U2, UnitComplex<N>>;
     [val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // TODO: do not clone.
     [val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
 );
@@ -528,7 +528,7 @@ isometry_from_composition_impl_all!(
     self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
     Output = Isometry<N, U2, UnitComplex<N>>;
     [val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
-    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // FIXME: do not clone.
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // TODO: do not clone.
     [val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
 );

src/geometry/mod.rs

@@ -22,7 +22,7 @@ mod rotation_alias;
 mod rotation_construction;
 mod rotation_conversion;
 mod rotation_ops;
-mod rotation_simba; // FIXME: implement Rotation methods.
+mod rotation_simba; // TODO: implement Rotation methods.
 mod rotation_specialization;
 
 mod quaternion;

src/geometry/op_macros.rs

@@ -1,6 +1,6 @@
 #![macro_use]
 
-// FIXME: merge with `md_impl`.
+// TODO: merge with `md_impl`.
 /// Macro for the implementation of multiplication and division.
 macro_rules! md_impl(
     (
@@ -140,7 +140,7 @@ macro_rules! md_assign_impl_all(
     }
 );
 
-// FIXME: merge with `as_impl`.
+// TODO: merge with `as_impl`.
 /// Macro for the implementation of addition and subtraction.
 macro_rules! add_sub_impl(
     ($Op: ident, $op: ident, $bound: ident;
@@ -164,7 +164,7 @@ macro_rules! add_sub_impl(
     }
 );
 
-// FIXME: merge with `md_assign_impl`.
+// TODO: merge with `md_assign_impl`.
 /// Macro for the implementation of assignment-addition and assignment-subtraction.
 macro_rules! add_sub_assign_impl(
     ($Op: ident, $op: ident, $bound: ident;

src/geometry/orthographic.rs

@@ -392,7 +392,7 @@ impl<N: RealField> Orthographic3<N> {
         (-N::one() + self.matrix[(2, 3)]) / self.matrix[(2, 2)]
     }
 
-    // FIXME: when we get specialization, specialize the Mul impl instead.
+    // TODO: when we get specialization, specialize the Mul impl instead.
     /// Projects a point. Faster than matrix multiplication.
     ///
     /// # Example
@@ -463,7 +463,7 @@ impl<N: RealField> Orthographic3<N> {
         )
     }
 
-    // FIXME: when we get specialization, specialize the Mul impl instead.
+    // TODO: when we get specialization, specialize the Mul impl instead.
     /// Projects a vector. Faster than matrix multiplication.
     ///
     /// Vectors are not affected by the translation part of the projection.

src/geometry/perspective.rs

@@ -186,9 +186,9 @@ impl<N: RealField> Perspective3<N> {
         (self.matrix[(2, 3)] - ratio * self.matrix[(2, 3)]) / crate::convert(2.0)
     }
 
-    // FIXME: add a method to retrieve znear and zfar simultaneously?
+    // TODO: add a method to retrieve znear and zfar simultaneously?
 
-    // FIXME: when we get specialization, specialize the Mul impl instead.
+    // TODO: when we get specialization, specialize the Mul impl instead.
     /// Projects a point. Faster than matrix multiplication.
     #[inline]
     pub fn project_point(&self, p: &Point3<N>) -> Point3<N> {
@@ -212,7 +212,7 @@ impl<N: RealField> Perspective3<N> {
         )
     }
 
-    // FIXME: when we get specialization, specialize the Mul impl instead.
+    // TODO: when we get specialization, specialize the Mul impl instead.
     /// Projects a vector. Faster than matrix multiplication.
     #[inline]
     pub fn project_vector<SB>(&self, p: &Vector<N, U3, SB>) -> Vector3<N>

src/geometry/point_conversion.rs

@@ -39,7 +39,7 @@ where
 
     #[inline]
     fn is_in_subset(m: &Point<N2, D>) -> bool {
-        // FIXME: is there a way to reuse the `.is_in_subset` from the matrix implementation of
+        // TODO: is there a way to reuse the `.is_in_subset` from the matrix implementation of
         // SubsetOf?
         m.iter().all(|e| e.is_in_subset())
     }

src/geometry/point_ops.rs

@@ -107,7 +107,7 @@ add_sub_impl!(Sub, sub, ClosedSub;
 add_sub_impl!(Sub, sub, ClosedSub;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: &'a Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from(&self.coords - &right); 'a); // FIXME: should not be a ref to `right`.
+    Self::Output::from(&self.coords - &right); 'a); // TODO: should not be a ref to `right`.
 
 add_sub_impl!(Sub, sub, ClosedSub;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
@@ -128,7 +128,7 @@ add_sub_impl!(Add, add, ClosedAdd;
 add_sub_impl!(Add, add, ClosedAdd;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
     self: &'a Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
-    Self::Output::from(&self.coords + &right); 'a); // FIXME: should not be a ref to `right`.
+    Self::Output::from(&self.coords + &right); 'a); // TODO: should not be a ref to `right`.
 
 add_sub_impl!(Add, add, ClosedAdd;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;

src/geometry/quaternion.rs

@@ -1519,7 +1519,7 @@ where
     /// ```
     #[inline]
     pub fn inverse_transform_point(&self, pt: &Point3<N>) -> Point3<N> {
-        // FIXME: would it be useful performancewise not to call inverse explicitly (i-e. implement
+        // TODO: would it be useful performancewise not to call inverse explicitly (i-e. implement
         // the inverse transformation explicitly here) ?
         self.inverse() * pt
     }

src/geometry/quaternion_construction.rs

@@ -69,7 +69,7 @@ impl<N: SimdRealField> Quaternion<N> {
     /// assert_eq!(*q.as_vector(), Vector4::new(2.0, 3.0, 4.0, 1.0));
     /// ```
     #[inline]
-    // FIXME: take a reference to `vector`?
+    // TODO: take a reference to `vector`?
     pub fn from_parts<SB>(scalar: N, vector: Vector<N, U3, SB>) -> Self
     where
         SB: Storage<N, U3>,
@@ -100,7 +100,7 @@ impl<N: SimdRealField> Quaternion<N> {
     }
 }
 
-// FIXME: merge with the previous block.
+// TODO: merge with the previous block.
 impl<N: SimdRealField> Quaternion<N>
 where
     N::Element: SimdRealField,
@@ -108,7 +108,7 @@ where
     /// Creates a new quaternion from its polar decomposition.
     ///
     /// Note that `axis` is assumed to be a unit vector.
-    // FIXME: take a reference to `axis`?
+    // TODO: take a reference to `axis`?
     pub fn from_polar_decomposition<SB>(scale: N, theta: N, axis: Unit<Vector<N, U3, SB>>) -> Self
     where
         SB: Storage<N, U3>,
@@ -422,7 +422,7 @@ where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        // FIXME: code duplication with Rotation.
+        // TODO: code duplication with Rotation.
         if let (Some(na), Some(nb)) = (
             Unit::try_new(a.clone_owned(), N::zero()),
             Unit::try_new(b.clone_owned(), N::zero()),
@@ -484,7 +484,7 @@ where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        // FIXME: code duplication with Rotation.
+        // TODO: code duplication with Rotation.
         let c = na.cross(&nb);
 
         if let Some(axis) = Unit::try_new(c, N::default_epsilon()) {

src/geometry/quaternion_ops.rs

@@ -45,8 +45,8 @@
  * UnitQuaternion ÷= UnitQuaternion
  * UnitQuaternion ÷= Rotation
  *
- * FIXME: Rotation ×= UnitQuaternion
+ * TODO: Rotation ×= UnitQuaternion
- * FIXME: Rotation ÷= UnitQuaternion
+ * TODO: Rotation ÷= UnitQuaternion
  *
  */
 
@@ -248,7 +248,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U3);
     self: &'a UnitQuaternion<N>, rhs: &'b Rotation<N, U3>,
     Output = UnitQuaternion<N> => U3, U3;
-    // FIXME: can we avoid the conversion from a rotation matrix?
+    // TODO: can we avoid the conversion from a rotation matrix?
     self * UnitQuaternion::<N>::from_rotation_matrix(rhs);
     'a, 'b);
 
@@ -281,7 +281,7 @@ quaternion_op_impl!(
     (U4, U1), (U3, U3);
     self: &'a UnitQuaternion<N>, rhs: &'b Rotation<N, U3>,
     Output = UnitQuaternion<N> => U3, U3;
-    // FIXME: can we avoid the conversion to a rotation matrix?
+    // TODO: can we avoid the conversion to a rotation matrix?
     self / UnitQuaternion::<N>::from_rotation_matrix(rhs);
     'a, 'b);
 
@@ -314,7 +314,7 @@ quaternion_op_impl!(
     (U3, U3), (U4, U1);
     self: &'a Rotation<N, U3>, rhs: &'b UnitQuaternion<N>,
     Output = UnitQuaternion<N> => U3, U3;
-    // FIXME: can we avoid the conversion from a rotation matrix?
+    // TODO: can we avoid the conversion from a rotation matrix?
     UnitQuaternion::<N>::from_rotation_matrix(self) * rhs;
     'a, 'b);
 
@@ -347,7 +347,7 @@ quaternion_op_impl!(
     (U3, U3), (U4, U1);
     self: &'a Rotation<N, U3>, rhs: &'b UnitQuaternion<N>,
     Output = UnitQuaternion<N> => U3, U3;
-    // FIXME: can we avoid the conversion from a rotation matrix?
+    // TODO: can we avoid the conversion from a rotation matrix?
     UnitQuaternion::<N>::from_rotation_matrix(self) / rhs;
     'a, 'b);
 
@@ -615,7 +615,7 @@ quaternion_op_impl!(
     self: Quaternion<N>, rhs: &'b Quaternion<N>;
     {
         let res = &*self * rhs;
-        // FIXME: will this be optimized away?
+        // TODO: will this be optimized away?
         self.coords.copy_from(&res.coords);
     };
     'b);

src/geometry/reflection.rs

@@ -41,7 +41,7 @@ impl<N: ComplexField, D: Dim, S: Storage<N, D>> Reflection<N, D, S> {
         &self.axis
     }
 
-    // FIXME: naming convention: reflect_to, reflect_assign ?
+    // TODO: naming convention: reflect_to, reflect_assign ?
     /// Applies the reflection to the columns of `rhs`.
     pub fn reflect<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<N, R2, C2, S2>)
     where
@@ -58,7 +58,7 @@ impl<N: ComplexField, D: Dim, S: Storage<N, D>> Reflection<N, D, S> {
         }
     }
 
-    // FIXME: naming convention: reflect_to, reflect_assign ?
+    // TODO: naming convention: reflect_to, reflect_assign ?
     /// Applies the reflection to the columns of `rhs`.
     pub fn reflect_with_sign<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<N, R2, C2, S2>, sign: N)
     where

src/geometry/rotation_ops.rs

@@ -54,7 +54,7 @@ md_impl_all!(
 );
 
 // Rotation ÷ Rotation
-// FIXME: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
+// TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
 md_impl_all!(
     Div, div;
     (D, D), (D, D) for D: DimName;
@@ -105,7 +105,7 @@ md_impl_all!(
 );
 
 // Rotation × Point
-// FIXME: we don't handle properly non-zero origins here. Do we want this to be the intended
+// TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
 // behavior?
 md_impl_all!(
     Mul, mul;
@@ -133,7 +133,7 @@ md_impl_all!(
 );
 
 // Rotation ×= Rotation
-// FIXME: try not to call `inverse()` explicitly.
+// TODO: try not to call `inverse()` explicitly.
 
 md_assign_impl_all!(
     MulAssign, mul_assign;
@@ -152,8 +152,8 @@ md_assign_impl_all!(
 );
 
 // Matrix *= Rotation
-// FIXME: try not to call `inverse()` explicitly.
+// TODO: try not to call `inverse()` explicitly.
-// FIXME: this shares the same limitations as for the current impl. of MulAssign for matrices.
+// TODO: this shares the same limitations as for the current impl. of MulAssign for matrices.
 // (In particular the number of matrix column must be equal to the number of rotation columns,
 // i.e., equal to the rotation dimension.
 

src/geometry/rotation_specialization.rs

@@ -706,7 +706,7 @@ where
         SB: Storage<N, U3>,
         SC: Storage<N, U3>,
     {
-        // FIXME: code duplication with Rotation.
+        // TODO: code duplication with Rotation.
         if let (Some(na), Some(nb)) = (a.try_normalize(N::zero()), b.try_normalize(N::zero())) {
             let c = na.cross(&nb);
 

src/geometry/similarity_conversion.rs

@@ -120,7 +120,7 @@ where
                 .try_normalize_mut(N2::zero())
                 .is_some()
         {
-            // FIXME: could we avoid explicit the computation of the determinant?
+            // TODO: could we avoid explicit the computation of the determinant?
             // (its sign is needed to see if the scaling factor is negative).
             if rot.determinant() < N2::zero() {
                 rot.fixed_columns_mut::<U1>(0).neg_mut();
@@ -149,7 +149,7 @@ where
 
         let mut scale = (na + nb + nc) / crate::convert(3.0); // We take the mean, for robustness.
 
-        // FIXME: could we avoid the explicit computation of the determinant?
+        // TODO: could we avoid the explicit computation of the determinant?
         // (its sign is needed to see if the scaling factor is negative).
         if mm.fixed_slice::<D, D>(0, 0).determinant() < N2::zero() {
             mm.fixed_slice_mut::<D, U1>(0, 0).neg_mut();

src/geometry/similarity_ops.rs

@@ -13,7 +13,7 @@ use crate::geometry::{
     UnitQuaternion,
 };
 
-// FIXME: there are several cloning of rotations that we could probably get rid of (but we didn't
+// TODO: there are several cloning of rotations that we could probably get rid of (but we didn't
 // yet because that would require to add a bound like `where for<'a, 'b> &'a R: Mul<&'b R, Output = R>`
 // which is quite ugly.
 
@@ -191,7 +191,7 @@ similarity_binop_assign_impl_all!(
     DivAssign, div_assign;
     self: Similarity<N, D, R>, rhs: Similarity<N, D, R>;
     [val] => *self /= &rhs;
-    // FIXME: don't invert explicitly.
+    // TODO: don't invert explicitly.
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
 
@@ -212,7 +212,7 @@ similarity_binop_assign_impl_all!(
     DivAssign, div_assign;
     self: Similarity<N, D, R>, rhs: Isometry<N, D, R>;
     [val] => *self /= &rhs;
-    // FIXME: don't invert explicitly.
+    // TODO: don't invert explicitly.
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
 
@@ -230,7 +230,7 @@ md_assign_impl_all!(
     DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
     (D, U1), (D, D) for D: DimName;
     self: Similarity<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
-    // FIXME: don't invert explicitly?
+    // TODO: don't invert explicitly?
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
@@ -247,7 +247,7 @@ md_assign_impl_all!(
     DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
     (U3, U3), (U3, U3) for;
     self: Similarity<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>;
-    // FIXME: don't invert explicitly?
+    // TODO: don't invert explicitly?
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
@@ -264,7 +264,7 @@ md_assign_impl_all!(
     DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
     (U2, U2), (U2, U2) for;
     self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
-    // FIXME: don't invert explicitly?
+    // TODO: don't invert explicitly?
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
@@ -495,7 +495,7 @@ similarity_from_composition_impl_all!(
     (D, D), (D, U1) for D: DimName;
     self: Rotation<N, D>, right: Similarity<N, D, Rotation<N, D>>,
     Output = Similarity<N, D, Rotation<N, D>>;
-    // FIXME: don't call inverse explicitly?
+    // TODO: don't call inverse explicitly?
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
@@ -556,7 +556,7 @@ similarity_from_composition_impl_all!(
     (U4, U1), (U3, U1);
     self: UnitQuaternion<N>, right: Similarity<N, U3, UnitQuaternion<N>>,
     Output = Similarity<N, U3, UnitQuaternion<N>>;
-    // FIXME: don't call inverse explicitly?
+    // TODO: don't call inverse explicitly?
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
     [val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };

src/geometry/transform.rs

@@ -165,7 +165,7 @@ where
     _phantom: PhantomData<C>,
 }
 
-// FIXME
+// TODO
 // impl<N: RealField + hash::Hash, D: DimNameAdd<U1> + hash::Hash, C: TCategory> hash::Hash for Transform<N, D, C>
 //     where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
 //           Owned<N, DimNameSum<D, U1>, DimNameSum<D, U1>>: hash::Hash {
@@ -411,7 +411,7 @@ where
     where
         C: SubTCategoryOf<TProjective>,
     {
-        // FIXME: specialize for TAffine?
+        // TODO: specialize for TAffine?
         Transform::from_matrix_unchecked(self.matrix.try_inverse().unwrap())
     }
 

src/geometry/transform_alga.rs

@@ -129,7 +129,7 @@ where
     }
 }
 
-// FIXME: we need to implement an SVD for this.
+// TODO: we need to implement an SVD for this.
 //
 // impl<N, D: DimNameAdd<U1>, C> AffineTransformation<Point<N, D>> for Transform<N, D, C>
 //     where N:  RealField,

src/geometry/transform_ops.rs

@@ -27,7 +27,7 @@ use crate::geometry::{
  * Transform × Similarity
  * Transform × Transform
  * Transform × UnitQuaternion
- * FIXME: Transform × UnitComplex
+ * TODO: Transform × UnitComplex
  * Transform × Translation
  * Transform × Vector
  * Transform × Point
@@ -37,21 +37,21 @@ use crate::geometry::{
  * Similarity     × Transform
  * Translation    × Transform
  * UnitQuaternion × Transform
- * FIXME: UnitComplex × Transform
+ * TODO: UnitComplex × Transform
  *
- * FIXME: Transform ÷ Isometry
+ * TODO: Transform ÷ Isometry
  * Transform ÷ Rotation
- * FIXME: Transform ÷ Similarity
+ * TODO: Transform ÷ Similarity
  * Transform ÷ Transform
  * Transform ÷ UnitQuaternion
  * Transform ÷ Translation
  *
- * FIXME: Isometry       ÷ Transform
+ * TODO: Isometry       ÷ Transform
  * Rotation       ÷ Transform
- * FIXME: Similarity     ÷ Transform
+ * TODO: Similarity     ÷ Transform
  * Translation    ÷ Transform
  * UnitQuaternion ÷ Transform
- * FIXME: UnitComplex ÷ Transform
+ * TODO: UnitComplex ÷ Transform
  *
  *
  * (Assignment Operators)
@@ -62,15 +62,15 @@ use crate::geometry::{
  * Transform ×= Isometry
  * Transform ×= Rotation
  * Transform ×= UnitQuaternion
- * FIXME: Transform ×= UnitComplex
+ * TODO: Transform ×= UnitComplex
  * Transform ×= Translation
  *
  * Transform ÷= Transform
- * FIXME: Transform ÷= Similarity
+ * TODO: Transform ÷= Similarity
- * FIXME: Transform ÷= Isometry
+ * TODO: Transform ÷= Isometry
  * Transform ÷= Rotation
  * Transform ÷= UnitQuaternion
- * FIXME: Transform ÷= UnitComplex
+ * TODO: Transform ÷= UnitComplex
  *
  */
 
@@ -260,7 +260,7 @@ md_impl_all!(
 
 /*
  *
- * FIXME: don't explicitly build the homogeneous translation matrix.
+ * TODO: don't explicitly build the homogeneous translation matrix.
  * Directly apply the translation, just as in `Matrix::{append,prepend}_translation`. This has not
  * been done yet because of the `DimNameDiff` requirement (which is not automatically deduced from
  * `DimNameAdd` requirement).
@@ -452,7 +452,7 @@ md_assign_impl_all!(
 
 /*
  *
- * FIXME: don't explicitly build the homogeneous translation matrix.
+ * TODO: don't explicitly build the homogeneous translation matrix.
  * Directly apply the translation, just as in `Matrix::{append,prepend}_translation`. This has not
  * been done yet because of the `DimNameDiff` requirement (which is not automatically deduced from
  * `DimNameAdd` requirement).

src/geometry/translation_ops.rs

@@ -34,7 +34,7 @@ add_sub_impl!(Mul, mul, ClosedAdd;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + right.vector) }; );
 
 // Translation ÷ Translation
-// FIXME: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
+// TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
 add_sub_impl!(Div, div, ClosedSub;
     (D, U1), (D, U1) -> (D) for D: DimName;
     self: &'a Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
@@ -59,7 +59,7 @@ add_sub_impl!(Div, div, ClosedSub;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - right.vector) }; );
 
 // Translation × Point
-// FIXME: we don't handle properly non-zero origins here. Do we want this to be the intended
+// TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
 // behavior?
 add_sub_impl!(Mul, mul, ClosedAdd;
     (D, U1), (D, U1) -> (D) for D: DimName;

src/geometry/unit_complex.rs

@@ -340,7 +340,7 @@ where
     /// ```
     #[inline]
     pub fn inverse_transform_point(&self, pt: &Point2<N>) -> Point2<N> {
-        // FIXME: would it be useful performancewise not to call inverse explicitly (i-e. implement
+        // TODO: would it be useful performancewise not to call inverse explicitly (i-e. implement
         // the inverse transformation explicitly here) ?
         self.inverse() * pt
     }

src/geometry/unit_complex_construction.rs

@@ -65,7 +65,7 @@ where
     ///
     /// assert_relative_eq!(rot * Point2::new(3.0, 4.0), Point2::new(-4.0, 3.0));
     /// ```
-    // FIXME: deprecate this.
+    // TODO: deprecate this.
     #[inline]
     pub fn from_angle(angle: N) -> Self {
         Self::new(angle)
@@ -127,7 +127,7 @@ where
     /// let complex = UnitComplex::from_rotation_matrix(&rot);
     /// assert_eq!(complex, UnitComplex::new(1.7));
     /// ```
-    // FIXME: add UnitComplex::from(...) instead?
+    // TODO: add UnitComplex::from(...) instead?
     #[inline]
     pub fn from_rotation_matrix(rotmat: &Rotation2<N>) -> Self {
         Self::new_unchecked(Complex::new(rotmat[(0, 0)], rotmat[(1, 0)]))
@@ -213,7 +213,7 @@ where
         SB: Storage<N, U2>,
         SC: Storage<N, U2>,
     {
-        // FIXME: code duplication with Rotation.
+        // TODO: code duplication with Rotation.
         if let (Some(na), Some(nb)) = (
             Unit::try_new(a.clone_owned(), N::zero()),
             Unit::try_new(b.clone_owned(), N::zero()),

src/io/matrix_market.rs

@@ -9,14 +9,14 @@ use pest::Parser;
 #[grammar = "io/matrix_market.pest"]
 struct MatrixMarketParser;
 
-// FIXME: return an Error instead of an Option.
+// TODO: return an Error instead of an Option.
 /// Parses a Matrix Market file at the given path, and returns the corresponding sparse matrix.
 pub fn cs_matrix_from_matrix_market<N: RealField, P: AsRef<Path>>(path: P) -> Option<CsMatrix<N>> {
     let file = fs::read_to_string(path).ok()?;
     cs_matrix_from_matrix_market_str(&file)
 }
 
-// FIXME: return an Error instead of an Option.
+// TODO: return an Error instead of an Option.
 /// Parses a Matrix Market file described by the given string, and returns the corresponding sparse matrix.
 pub fn cs_matrix_from_matrix_market_str<N: RealField>(data: &str) -> Option<CsMatrix<N>> {
     let file = MatrixMarketParser::parse(Rule::Document, data)
@@ -43,7 +43,7 @@ pub fn cs_matrix_from_matrix_market_str<N: RealField>(data: &str) -> Option<CsMa
                 cols.push(inner.next()?.as_str().parse::<usize>().ok()? - 1);
                 data.push(crate::convert(inner.next()?.as_str().parse::<f64>().ok()?));
             }
-            _ => return None, // FIXME: return an Err instead.
+            _ => return None, // TODO: return an Err instead.
         }
     }
 

src/linalg/bidiagonal.rs

@@ -40,7 +40,7 @@ where
         + Allocator<N, DimMinimum<R, C>>
         + Allocator<N, DimDiff<DimMinimum<R, C>, U1>>,
 {
-    // FIXME: perhaps we should pack the axises into different vectors so that axises for `v_t` are
+    // TODO: perhaps we should pack the axes into different vectors so that axes for `v_t` are
     // contiguous. This prevents some useless copies.
     uv: MatrixMN<N, R, C>,
     /// The diagonal elements of the decomposed matrix.
@@ -176,7 +176,7 @@ where
             + Allocator<N, R, DimMinimum<R, C>>
             + Allocator<N, DimMinimum<R, C>, C>,
     {
-        // FIXME: optimize by calling a reallocator.
+        // TODO: optimize by calling a reallocator.
         (self.u(), self.d(), self.v_t())
     }
 
@@ -199,7 +199,7 @@ where
     }
 
     /// Computes the orthogonal matrix `U` of this `U * D * V` decomposition.
-    // FIXME: code duplication with householder::assemble_q.
+    // TODO: code duplication with householder::assemble_q.
     // Except that we are returning a rectangular matrix here.
     pub fn u(&self) -> MatrixMN<N, R, DimMinimum<R, C>>
     where
@@ -213,7 +213,7 @@ where
 
         for i in (0..dim - shift).rev() {
             let axis = self.uv.slice_range(i + shift.., i);
-            // FIXME: sometimes, the axis might have a zero magnitude.
+            // TODO: sometimes, the axis might have a zero magnitude.
             let refl = Reflection::new(Unit::new_unchecked(axis), N::zero());
 
             let mut res_rows = res.slice_range_mut(i + shift.., i..);
@@ -248,7 +248,7 @@ where
             let axis = self.uv.slice_range(i, i + shift..);
             let mut axis_packed = axis_packed.rows_range_mut(i + shift..);
             axis_packed.tr_copy_from(&axis);
-            // FIXME: sometimes, the axis might have a zero magnitude.
+            // TODO: sometimes, the axis might have a zero magnitude.
             let refl = Reflection::new(Unit::new_unchecked(axis_packed), N::zero());
 
             let mut res_rows = res.slice_range_mut(i.., i + shift..);
@@ -312,7 +312,7 @@ where
 //         self.solve_upper_triangular_mut(b);
 //     }
 //
-//     // FIXME: duplicate code from the `solve` module.
+//     // TODO: duplicate code from the `solve` module.
 //     fn solve_upper_triangular_mut<R2: Dim, C2: Dim, S2>(&self, b: &mut Matrix<N, R2, C2, S2>)
 //         where S2: StorageMut<N, R2, C2>,
 //               ShapeConstraint: SameNumberOfRows<R2, D> {
@@ -339,7 +339,7 @@ where
 //     pub fn inverse(&self) -> MatrixN<N, D> {
 //         assert!(self.uv.is_square(), "Bidiagonal inverse: unable to compute the inverse of a non-square matrix.");
 //
-//         // FIXME: is there a less naive method ?
+//         // TODO: is there a less naive method ?
 //         let (nrows, ncols) = self.uv.data.shape();
 //         let mut res = MatrixN::identity_generic(nrows, ncols);
 //         self.solve_mut(&mut res);
@@ -359,18 +359,3 @@ where
 //     //     res self.q_determinant()
 //     // }
 // }
-
-impl<N: ComplexField, R: DimMin<C>, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
-where
-    DimMinimum<R, C>: DimSub<U1>,
-    DefaultAllocator: Allocator<N, R, C>
-        + Allocator<N, C>
-        + Allocator<N, R>
-        + Allocator<N, DimMinimum<R, C>>
-        + Allocator<N, DimDiff<DimMinimum<R, C>, U1>>,
-{
-    /// Computes the bidiagonalization using householder reflections.
-    pub fn bidiagonalize(self) -> Bidiagonal<N, R, C> {
-        Bidiagonal::new(self.into_owned())
-    }
-}

src/linalg/cholesky.rs

@@ -6,7 +6,7 @@ use simba::scalar::ComplexField;
 use simba::simd::SimdComplexField;
 
 use crate::allocator::Allocator;
-use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixN, SquareMatrix, Vector};
+use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Vector};
 use crate::constraint::{SameNumberOfRows, ShapeConstraint};
 use crate::dimension::{Dim, DimAdd, DimDiff, DimSub, DimSum, U1};
 use crate::storage::{Storage, StorageMut};
@@ -363,16 +363,3 @@ where
         }
     }
 }
-
-impl<N: ComplexField, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S>
-where
-    DefaultAllocator: Allocator<N, D, D>,
-{
-    /// Attempts to compute the Cholesky decomposition of this matrix.
-    ///
-    /// Returns `None` if the input matrix is not definite-positive. The input matrix is assumed
-    /// to be symmetric and only the lower-triangular part is read.
-    pub fn cholesky(self) -> Option<Cholesky<N, D>> {
-        Cholesky::new(self.into_owned())
-    }
-}

src/linalg/decomposition.rs

@@ -0,0 +1,232 @@
+use crate::storage::Storage;
+use crate::{
+    Allocator, Bidiagonal, Cholesky, ComplexField, DefaultAllocator, Dim, DimDiff, DimMin,
+    DimMinimum, DimSub, FullPivLU, Hessenberg, Matrix, Schur, SymmetricEigen, SymmetricTridiagonal,
+    LU, QR, SVD, U1,
+};
+
+/// # Rectangular matrix decomposition
+///
+/// This section contains the methods for computing some common decompositions of rectangular
+/// matrices with real or complex components. The following are currently supported:
+///
+/// | Decomposition            | Factors             | Details |
+/// | -------------------------|---------------------|--------------|
+/// | QR                       | `Q * R`             | `Q` is an unitary matrix, and `R` is upper-triangular. |
+/// | LU with partial pivoting | `P⁻¹ * L * U`       | `L` is lower-triangular with a diagonal filled with `1` and `U` is upper-triangular. `P` is a permutation matrix. |
+/// | LU with full pivoting    | `P⁻¹ * L * U ~ Q⁻¹` | `L` is lower-triangular with a diagonal filled with `1` and `U` is upper-triangular. `P` and `Q` are permutation matrices. |
+/// | SVD                      | `U * Σ * Vᵀ`        | `U` and `V` are two orthogonal matrices and `Σ` is a diagonal matrix containing the singular values. |
+impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
+    /// Computes the bidiagonalization using householder reflections.
+    pub fn bidiagonalize(self) -> Bidiagonal<N, R, C>
+    where
+        R: DimMin<C>,
+        DimMinimum<R, C>: DimSub<U1>,
+        DefaultAllocator: Allocator<N, R, C>
+            + Allocator<N, C>
+            + Allocator<N, R>
+            + Allocator<N, DimMinimum<R, C>>
+            + Allocator<N, DimDiff<DimMinimum<R, C>, U1>>,
+    {
+        Bidiagonal::new(self.into_owned())
+    }
+
+    /// Computes the LU decomposition with full pivoting of `matrix`.
+    ///
+    /// This effectively computes `P, L, U, Q` such that `P * matrix * Q = LU`.
+    pub fn full_piv_lu(self) -> FullPivLU<N, R, C>
+    where
+        R: DimMin<C>,
+        DefaultAllocator: Allocator<N, R, C> + Allocator<(usize, usize), DimMinimum<R, C>>,
+    {
+        FullPivLU::new(self.into_owned())
+    }
+
+    /// Computes the LU decomposition with partial (row) pivoting of `matrix`.
+    pub fn lu(self) -> LU<N, R, C>
+    where
+        R: DimMin<C>,
+        DefaultAllocator: Allocator<N, R, C> + Allocator<(usize, usize), DimMinimum<R, C>>,
+    {
+        LU::new(self.into_owned())
+    }
+
+    /// Computes the QR decomposition of this matrix.
+    pub fn qr(self) -> QR<N, R, C>
+    where
+        R: DimMin<C>,
+        DefaultAllocator: Allocator<N, R, C> + Allocator<N, R> + Allocator<N, DimMinimum<R, C>>,
+    {
+        QR::new(self.into_owned())
+    }
+
+    /// Computes the Singular Value Decomposition using implicit shift.
+    pub fn svd(self, compute_u: bool, compute_v: bool) -> SVD<N, R, C>
+    where
+        R: DimMin<C>,
+        DimMinimum<R, C>: DimSub<U1>, // for Bidiagonal.
+        DefaultAllocator: Allocator<N, R, C>
+            + Allocator<N, C>
+            + Allocator<N, R>
+            + Allocator<N, DimDiff<DimMinimum<R, C>, U1>>
+            + Allocator<N, DimMinimum<R, C>, C>
+            + Allocator<N, R, DimMinimum<R, C>>
+            + Allocator<N, DimMinimum<R, C>>
+            + Allocator<N::RealField, DimMinimum<R, C>>
+            + Allocator<N::RealField, DimDiff<DimMinimum<R, C>, U1>>,
+    {
+        SVD::new(self.into_owned(), compute_u, compute_v)
+    }
+
+    /// Attempts to compute the Singular Value Decomposition of `matrix` using implicit shift.
+    ///
+    /// # Arguments
+    ///
+    /// * `compute_u` − set this to `true` to enable the computation of left-singular vectors.
+    /// * `compute_v` − set this to `true` to enable the computation of right-singular vectors.
+    /// * `eps`       − tolerance used to determine when a value converged to 0.
+    /// * `max_niter` − maximum total number of iterations performed by the algorithm. If this
+    /// number of iteration is exceeded, `None` is returned. If `niter == 0`, then the algorithm
+    /// continues indefinitely until convergence.
+    pub fn try_svd(
+        self,
+        compute_u: bool,
+        compute_v: bool,
+        eps: N::RealField,
+        max_niter: usize,
+    ) -> Option<SVD<N, R, C>>
+    where
+        R: DimMin<C>,
+        DimMinimum<R, C>: DimSub<U1>, // for Bidiagonal.
+        DefaultAllocator: Allocator<N, R, C>
+            + Allocator<N, C>
+            + Allocator<N, R>
+            + Allocator<N, DimDiff<DimMinimum<R, C>, U1>>
+            + Allocator<N, DimMinimum<R, C>, C>
+            + Allocator<N, R, DimMinimum<R, C>>
+            + Allocator<N, DimMinimum<R, C>>
+            + Allocator<N::RealField, DimMinimum<R, C>>
+            + Allocator<N::RealField, DimDiff<DimMinimum<R, C>, U1>>,
+    {
+        SVD::try_new(self.into_owned(), compute_u, compute_v, eps, max_niter)
+    }
+}
+
+/// # Square matrix decomposition
+///
+/// This section contains the methods for computing some common decompositions of square
+/// matrices with real or complex components. The following are currently supported:
+///
+/// | Decomposition            | Factors                   | Details |
+/// | -------------------------|---------------------------|--------------|
+/// | Hessenberg               | `Q * H * Qᵀ`             | `Q` is a unitary matrix and `H` an upper-Hessenberg matrix. |
+/// | Cholesky                 | `L * Lᵀ`                 | `L` is a lower-triangular matrix. |
+/// | Schur decomposition      | `Q * T * Qᵀ`             | `Q` is an unitary matrix and `T` a quasi-upper-triangular matrix. |
+/// | Symmetric eigendecomposition | `Q ~ Λ ~ Qᵀ`   | `Q` is an unitary matrix, and `Λ` is a real diagonal matrix. |
+/// | Symmetric tridiagonalization | `Q ~ T ~ Qᵀ`   | `Q` is an unitary matrix, and `T` is a tridiagonal matrix. |
+impl<N: ComplexField, D: Dim, S: Storage<N, D, D>> Matrix<N, D, D, S> {
+    /// Attempts to compute the Cholesky decomposition of this matrix.
+    ///
+    /// Returns `None` if the input matrix is not definite-positive. The input matrix is assumed
+    /// to be symmetric and only the lower-triangular part is read.
+    pub fn cholesky(self) -> Option<Cholesky<N, D>>
+    where
+        DefaultAllocator: Allocator<N, D, D>,
+    {
+        Cholesky::new(self.into_owned())
+    }
+
+    /// Computes the Hessenberg decomposition of this matrix using householder reflections.
+    pub fn hessenberg(self) -> Hessenberg<N, D>
+    where
+        D: DimSub<U1>,
+        DefaultAllocator: Allocator<N, D, D> + Allocator<N, D> + Allocator<N, DimDiff<D, U1>>,
+    {
+        Hessenberg::new(self.into_owned())
+    }
+
+    /// Computes the Schur decomposition of a square matrix.
+    pub fn schur(self) -> Schur<N, D>
+    where
+        D: DimSub<U1>, // For Hessenberg.
+        DefaultAllocator: Allocator<N, D, DimDiff<D, U1>>
+            + Allocator<N, DimDiff<D, U1>>
+            + Allocator<N, D, D>
+            + Allocator<N, D>,
+    {
+        Schur::new(self.into_owned())
+    }
+
+    /// Attempts to compute the Schur decomposition of a square matrix.
+    ///
+    /// If only eigenvalues are needed, it is more efficient to call the matrix method
+    /// `.eigenvalues()` instead.
+    ///
+    /// # Arguments
+    ///
+    /// * `eps`       − tolerance used to determine when a value converged to 0.
+    /// * `max_niter` − maximum total number of iterations performed by the algorithm. If this
+    /// number of iteration is exceeded, `None` is returned. If `niter == 0`, then the algorithm
+    /// continues indefinitely until convergence.
+    pub fn try_schur(self, eps: N::RealField, max_niter: usize) -> Option<Schur<N, D>>
+    where
+        D: DimSub<U1>, // For Hessenberg.
+        DefaultAllocator: Allocator<N, D, DimDiff<D, U1>>
+            + Allocator<N, DimDiff<D, U1>>
+            + Allocator<N, D, D>
+            + Allocator<N, D>,
+    {
+        Schur::try_new(self.into_owned(), eps, max_niter)
+    }
+
+    /// Computes the eigendecomposition of this symmetric matrix.
+    ///
+    /// Only the lower-triangular part (including the diagonal) of `m` is read.
+    pub fn symmetric_eigen(self) -> SymmetricEigen<N, D>
+    where
+        D: DimSub<U1>,
+        DefaultAllocator: Allocator<N, D, D>
+            + Allocator<N, DimDiff<D, U1>>
+            + Allocator<N::RealField, D>
+            + Allocator<N::RealField, DimDiff<D, U1>>,
+    {
+        SymmetricEigen::new(self.into_owned())
+    }
+
+    /// Computes the eigendecomposition of the given symmetric matrix with user-specified
+    /// convergence parameters.
+    ///
+    /// Only the lower-triangular part (including the diagonal) of `m` is read.
+    ///
+    /// # Arguments
+    ///
+    /// * `eps`       − tolerance used to determine when a value converged to 0.
+    /// * `max_niter` − maximum total number of iterations performed by the algorithm. If this
+    /// number of iteration is exceeded, `None` is returned. If `niter == 0`, then the algorithm
+    /// continues indefinitely until convergence.
+    pub fn try_symmetric_eigen(
+        self,
+        eps: N::RealField,
+        max_niter: usize,
+    ) -> Option<SymmetricEigen<N, D>>
+    where
+        D: DimSub<U1>,
+        DefaultAllocator: Allocator<N, D, D>
+            + Allocator<N, DimDiff<D, U1>>
+            + Allocator<N::RealField, D>
+            + Allocator<N::RealField, DimDiff<D, U1>>,
+    {
+        SymmetricEigen::try_new(self.into_owned(), eps, max_niter)
+    }
+
+    /// Computes the tridiagonalization of this symmetric matrix.
+    ///
+    /// Only the lower-triangular part (including the diagonal) of `m` is read.
+    pub fn symmetric_tridiagonalize(self) -> SymmetricTridiagonal<N, D>
+    where
+        D: DimSub<U1>,
+        DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
+    {
+        SymmetricTridiagonal::new(self.into_owned())
+    }
+}

src/linalg/full_piv_lu.rs

@@ -257,15 +257,3 @@ where
         }
     }
 }
-
-impl<N: ComplexField, R: DimMin<C>, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
-where
-    DefaultAllocator: Allocator<N, R, C> + Allocator<(usize, usize), DimMinimum<R, C>>,
-{
-    /// Computes the LU decomposition with full pivoting of `matrix`.
-    ///
-    /// This effectively computes `P, L, U, Q` such that `P * matrix * Q = LU`.
-    pub fn full_piv_lu(self) -> FullPivLU<N, R, C> {
-        FullPivLU::new(self.into_owned())
-    }
-}

src/linalg/givens.rs

@@ -147,7 +147,7 @@ impl<N: ComplexField> GivensRotation<N> {
         let s = self.s;
         let c = self.c;
 
-        // FIXME: can we optimize that to iterate on one column at a time ?
+        // TODO: can we optimize that to iterate on one column at a time ?
         for j in 0..lhs.nrows() {
             unsafe {
                 let a = *lhs.get_unchecked((j, 0));

src/linalg/hessenberg.rs

@@ -2,7 +2,7 @@
 use serde::{Deserialize, Serialize};
 
 use crate::allocator::Allocator;
-use crate::base::{DefaultAllocator, MatrixMN, MatrixN, SquareMatrix, VectorN};
+use crate::base::{DefaultAllocator, MatrixMN, MatrixN, VectorN};
 use crate::dimension::{DimDiff, DimSub, U1};
 use crate::storage::Storage;
 use simba::scalar::ComplexField;
@@ -107,7 +107,7 @@ where
         self.hess
     }
 
-    // FIXME: add a h that moves out of self.
+    // TODO: add a h that moves out of self.
     /// Retrieves the upper trapezoidal submatrix `H` of this decomposition.
     ///
     /// This is less efficient than `.unpack_h()` as it allocates a new matrix.
@@ -131,13 +131,3 @@ where
         &self.hess
     }
 }
-
-impl<N: ComplexField, D: DimSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
-where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D> + Allocator<N, DimDiff<D, U1>>,
-{
-    /// Computes the Hessenberg decomposition of this matrix using householder reflections.
-    pub fn hessenberg(self) -> Hessenberg<N, D> {
-        Hessenberg::new(self.into_owned())
-    }
-}

src/linalg/householder.rs

@@ -36,7 +36,7 @@ pub fn reflection_axis_mut<N: ComplexField, D: Dim, S: StorageMut<N, D>>(
         column.unscale_mut(factor.sqrt());
         (-signed_norm, true)
     } else {
-        // FIXME: not sure why we don't have a - sign here.
+        // TODO: not sure why we don't have a - sign here.
         (signed_norm, false)
     }
 }

src/linalg/lu.rs

@@ -379,13 +379,3 @@ pub fn gauss_step_swap<N, R: Dim, C: Dim, S>(
             .axpy(-pivot_row[k].inlined_clone(), &coeffs, N::one());
     }
 }
-
-impl<N: ComplexField, R: DimMin<C>, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
-where
-    DefaultAllocator: Allocator<N, R, C> + Allocator<(usize, usize), DimMinimum<R, C>>,
-{
-    /// Computes the LU decomposition with partial (row) pivoting of `matrix`.
-    pub fn lu(self) -> LU<N, R, C> {
-        LU::new(self.into_owned())
-    }
-}

src/linalg/mod.rs

@@ -5,9 +5,10 @@ mod bidiagonal;
 mod cholesky;
 mod convolution;
 mod determinant;
-// FIXME: this should not be needed. However, the exp uses
+// TODO: this should not be needed. However, the exp uses
 // explicit float operations on `f32` and `f64`. We need to
 // get rid of these to allow exp to be used on a no-std context.
+mod decomposition;
 #[cfg(feature = "std")]
 mod exp;
 mod full_piv_lu;
@@ -24,7 +25,7 @@ mod svd;
 mod symmetric_eigen;
 mod symmetric_tridiagonal;
 
-//// FIXME: Not complete enough for publishing.
+//// TODO: Not complete enough for publishing.
 //// This handles only cases where each eigenvalue has multiplicity one.
 // mod eigen;
 

src/linalg/qr.rs

@@ -108,7 +108,7 @@ where
 
         for i in (0..dim).rev() {
             let axis = self.qr.slice_range(i.., i);
-            // FIXME: sometimes, the axis might have a zero magnitude.
+            // TODO: sometimes, the axis might have a zero magnitude.
             let refl = Reflection::new(Unit::new_unchecked(axis), N::zero());
 
             let mut res_rows = res.slice_range_mut(i.., i..);
@@ -140,7 +140,7 @@ where
 
     /// Multiplies the provided matrix by the transpose of the `Q` matrix of this decomposition.
     pub fn q_tr_mul<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<N, R2, C2, S2>)
-    // FIXME: do we need a static constraint on the number of rows of rhs?
+    // TODO: do we need a static constraint on the number of rows of rhs?
     where
         S2: StorageMut<N, R2, C2>,
     {
@@ -204,7 +204,7 @@ where
         self.solve_upper_triangular_mut(b)
     }
 
-    // FIXME: duplicate code from the `solve` module.
+    // TODO: duplicate code from the `solve` module.
     fn solve_upper_triangular_mut<R2: Dim, C2: Dim, S2>(
         &self,
         b: &mut Matrix<N, R2, C2, S2>,
@@ -248,7 +248,7 @@ where
             "QR inverse: unable to compute the inverse of a non-square matrix."
         );
 
-        // FIXME: is there a less naive method ?
+        // TODO: is there a less naive method ?
         let (nrows, ncols) = self.qr.data.shape();
         let mut res = MatrixN::identity_generic(nrows, ncols);
 
@@ -288,13 +288,3 @@ where
     //     res self.q_determinant()
     // }
 }
-
-impl<N: ComplexField, R: DimMin<C>, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
-where
-    DefaultAllocator: Allocator<N, R, C> + Allocator<N, R> + Allocator<N, DimMinimum<R, C>>,
-{
-    /// Computes the QR decomposition of this matrix.
-    pub fn qr(self) -> QR<N, R, C> {
-        QR::new(self.into_owned())
-    }
-}

src/linalg/schur.rs

@@ -115,7 +115,7 @@ where
         let mut t;
 
         if compute_q {
-            // FIXME: could we work without unpacking? Using only the internal representation of
+            // TODO: could we work without unpacking? Using only the internal representation of
             // hessenberg decomposition.
             let (vecs, vals) = hess.unpack();
             q = Some(vecs);
@@ -496,26 +496,6 @@ where
         + Allocator<N, D, D>
         + Allocator<N, D>,
 {
-    /// Computes the Schur decomposition of a square matrix.
-    pub fn schur(self) -> Schur<N, D> {
-        Schur::new(self.into_owned())
-    }
-
-    /// Attempts to compute the Schur decomposition of a square matrix.
-    ///
-    /// If only eigenvalues are needed, it is more efficient to call the matrix method
-    /// `.eigenvalues()` instead.
-    ///
-    /// # Arguments
-    ///
-    /// * `eps`       − tolerance used to determine when a value converged to 0.
-    /// * `max_niter` − maximum total number of iterations performed by the algorithm. If this
-    /// number of iteration is exceeded, `None` is returned. If `niter == 0`, then the algorithm
-    /// continues indefinitely until convergence.
-    pub fn try_schur(self, eps: N::RealField, max_niter: usize) -> Option<Schur<N, D>> {
-        Schur::try_new(self.into_owned(), eps, max_niter)
-    }
-
     /// Computes the eigenvalues of this matrix.
     pub fn eigenvalues(&self) -> Option<VectorN<N, D>> {
         assert!(
@@ -527,7 +507,7 @@ where
 
         // Special case for 2x2 matrices.
         if self.nrows() == 2 {
-            // FIXME: can we avoid this slicing
+            // TODO: can we avoid this slicing
             // (which is needed here just to transform D to U2)?
             let me = self.fixed_slice::<U2, U2>(0, 0);
             return match compute_2x2_eigvals(&me) {
@@ -540,7 +520,7 @@ where
             };
         }
 
-        // FIXME: add balancing?
+        // TODO: add balancing?
         let schur = Schur::do_decompose(
             self.clone_owned(),
             &mut work,
@@ -558,7 +538,7 @@ where
 
     /// Computes the eigenvalues of this matrix.
     pub fn complex_eigenvalues(&self) -> VectorN<NumComplex<N>, D>
-    // FIXME: add balancing?
+    // TODO: add balancing?
     where
         N: RealField,
         DefaultAllocator: Allocator<NumComplex<N>, D>,

src/linalg/solve.rs

@@ -97,7 +97,7 @@ impl<N: ComplexField, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
         true
     }
 
-    // FIXME: add the same but for solving upper-triangular.
+    // TODO: add the same but for solving upper-triangular.
     /// Solves the linear system `self . x = b` where `x` is the unknown and only the
     /// lower-triangular part of `self` is considered not-zero. The diagonal is never read as it is
     /// assumed to be equal to `diag`. Returns `false` and does not modify its inputs if `diag` is zero.
@@ -510,7 +510,7 @@ impl<N: SimdComplexField, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
         }
     }
 
-    // FIXME: add the same but for solving upper-triangular.
+    // TODO: add the same but for solving upper-triangular.
     /// Solves the linear system `self . x = b` where `x` is the unknown and only the
     /// lower-triangular part of `self` is considered not-zero. The diagonal is never read as it is
     /// assumed to be equal to `diag`. Returns `false` and does not modify its inputs if `diag` is zero.

src/linalg/svd.rs

@@ -191,7 +191,7 @@ where
                         }
 
                         let v = Vector2::new(subm[(0, 0)], subm[(1, 0)]);
-                        // FIXME: does the case `v.y == 0` ever happen?
+                        // TODO: does the case `v.y == 0` ever happen?
                         let (rot2, norm2) = GivensRotation::cancel_y(&v)
                             .unwrap_or((GivensRotation::identity(), subm[(0, 0)]));
 
@@ -395,7 +395,7 @@ where
                 off_diagonal[m] = N::RealField::zero();
                 break;
             }
-            // FIXME: write a test that enters this case.
+            // TODO: write a test that enters this case.
             else if diagonal[m].norm1() <= eps {
                 diagonal[m] = N::RealField::zero();
                 Self::cancel_horizontal_off_diagonal_elt(
@@ -562,7 +562,7 @@ where
     ///
     /// Any singular value smaller than `eps` is assumed to be zero.
     /// Returns `Err` if the singular vectors `U` and `V` have not been computed.
-    // FIXME: make this more generic wrt the storage types and the dimensions for `b`.
+    // TODO: make this more generic wrt the storage types and the dimensions for `b`.
     pub fn solve<R2: Dim, C2: Dim, S2>(
         &self,
         b: &Matrix<N, R2, C2, S2>,
@@ -616,31 +616,6 @@ where
         + Allocator<N::RealField, DimMinimum<R, C>>
         + Allocator<N::RealField, DimDiff<DimMinimum<R, C>, U1>>,
 {
-    /// Computes the Singular Value Decomposition using implicit shift.
-    pub fn svd(self, compute_u: bool, compute_v: bool) -> SVD<N, R, C> {
-        SVD::new(self.into_owned(), compute_u, compute_v)
-    }
-
-    /// Attempts to compute the Singular Value Decomposition of `matrix` using implicit shift.
-    ///
-    /// # Arguments
-    ///
-    /// * `compute_u` − set this to `true` to enable the computation of left-singular vectors.
-    /// * `compute_v` − set this to `true` to enable the computation of right-singular vectors.
-    /// * `eps`       − tolerance used to determine when a value converged to 0.
-    /// * `max_niter` − maximum total number of iterations performed by the algorithm. If this
-    /// number of iteration is exceeded, `None` is returned. If `niter == 0`, then the algorithm
-    /// continues indefinitely until convergence.
-    pub fn try_svd(
-        self,
-        compute_u: bool,
-        compute_v: bool,
-        eps: N::RealField,
-        max_niter: usize,
-    ) -> Option<SVD<N, R, C>> {
-        SVD::try_new(self.into_owned(), compute_u, compute_v, eps, max_niter)
-    }
-
     /// Computes the singular values of this matrix.
     pub fn singular_values(&self) -> VectorN<N::RealField, DimMinimum<R, C>> {
         SVD::new(self.clone_owned(), false, false).singular_values

src/linalg/symmetric_eigen.rs

@@ -308,32 +308,6 @@ where
         + Allocator<N::RealField, D>
         + Allocator<N::RealField, DimDiff<D, U1>>,
 {
-    /// Computes the eigendecomposition of this symmetric matrix.
-    ///
-    /// Only the lower-triangular part (including the diagonal) of `m` is read.
-    pub fn symmetric_eigen(self) -> SymmetricEigen<N, D> {
-        SymmetricEigen::new(self.into_owned())
-    }
-
-    /// Computes the eigendecomposition of the given symmetric matrix with user-specified
-    /// convergence parameters.
-    ///
-    /// Only the lower-triangular part (including the diagonal) of `m` is read.
-    ///
-    /// # Arguments
-    ///
-    /// * `eps`       − tolerance used to determine when a value converged to 0.
-    /// * `max_niter` − maximum total number of iterations performed by the algorithm. If this
-    /// number of iteration is exceeded, `None` is returned. If `niter == 0`, then the algorithm
-    /// continues indefinitely until convergence.
-    pub fn try_symmetric_eigen(
-        self,
-        eps: N::RealField,
-        max_niter: usize,
-    ) -> Option<SymmetricEigen<N, D>> {
-        SymmetricEigen::try_new(self.into_owned(), eps, max_niter)
-    }
-
     /// Computes the eigenvalues of this symmetric matrix.
     ///
     /// Only the lower-triangular part of the matrix is read.

src/linalg/symmetric_tridiagonal.rs

@@ -2,7 +2,7 @@
 use serde::{Deserialize, Serialize};
 
 use crate::allocator::Allocator;
-use crate::base::{DefaultAllocator, MatrixMN, MatrixN, SquareMatrix, VectorN};
+use crate::base::{DefaultAllocator, MatrixMN, MatrixN, VectorN};
 use crate::dimension::{DimDiff, DimSub, U1};
 use crate::storage::Storage;
 use simba::scalar::ComplexField;
@@ -162,15 +162,3 @@ where
         &q * self.tri * q.adjoint()
     }
 }
-
-impl<N: ComplexField, D: DimSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
-where
-    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
-{
-    /// Computes the tridiagonalization of this symmetric matrix.
-    ///
-    /// Only the lower-triangular part (including the diagonal) of `m` is read.
-    pub fn symmetric_tridiagonalize(self) -> SymmetricTridiagonal<N, D> {
-        SymmetricTridiagonal::new(self.into_owned())
-    }
-}

src/sparse/cs_matrix.rs

@@ -42,7 +42,7 @@ impl<'a, N: Clone> Iterator for ColumnEntries<'a, N> {
     }
 }
 
-// FIXME: this structure exists for now only because impl trait
+// TODO: this structure exists for now only because impl trait
 // cannot be used for trait method return types.
 /// Trait for iterable compressed-column matrix storage.
 pub trait CsStorageIter<'a, N, R, C = U1> {

src/sparse/cs_matrix_cholesky.rs

@@ -18,7 +18,7 @@ where
     // Decomposition result.
     l: CsMatrix<N, D, D>,
     // Used only for the pattern.
-    // FIXME: store only the nonzero pattern instead.
+    // TODO: store only the nonzero pattern instead.
     u: CsMatrix<N, D, D>,
     ok: bool,
     // Workspaces.
@@ -266,7 +266,7 @@ where
         marks.clear();
         marks.resize(tree.len(), false);
 
-        // FIXME: avoid all those allocations.
+        // TODO: avoid all those allocations.
         let mut tmp = Vec::new();
         let mut res = Vec::new();
 
@@ -347,7 +347,7 @@ where
     }
 
     fn tree_postorder(tree: &[usize]) -> Vec<usize> {
-        // FIXME: avoid all those allocations?
+        // TODO: avoid all those allocations?
         let mut first_child: Vec<_> = iter::repeat(usize::max_value()).take(tree.len()).collect();
         let mut other_children: Vec<_> =
             iter::repeat(usize::max_value()).take(tree.len()).collect();

tests/core/matrix.rs

@@ -946,7 +946,7 @@ mod normalization_tests {
 }
 
 #[cfg(all(feature = "arbitrary", feature = "alga"))]
-// FIXME: move this to alga ?
+// TODO: move this to alga ?
 mod finite_dim_inner_space_tests {
     use super::*;
     use alga::linear::FiniteDimInnerSpace;

tests/linalg/eigen.rs

@@ -110,7 +110,7 @@ fn symmetric_eigen_singular_24x24() {
 
 //  #[cfg(feature = "arbitrary")]
 //  quickcheck! {
-// FIXME: full eigendecomposition is not implemented yet because of its complexity when some
+// TODO: full eigendecomposition is not implemented yet because of its complexity when some
 // eigenvalues have multiplicity > 1.
 //
 //    /*