diff --git a/python/all_mrpt_math1.cpp b/python/all_mrpt_math1.cpp
index b5c05d6677..e433f637e0 100644
--- a/python/all_mrpt_math1.cpp
+++ b/python/all_mrpt_math1.cpp
@@ -1,11 +1,12 @@
 #include "src/mrpt/math/CAtan2LookUpTable.cpp"
 #include "src/mrpt/math/CMatrixB.cpp"
+#include "src/mrpt/math/CMatrixDynamic_2.cpp"
 #include "src/mrpt/math/CMatrixDynamic_1.cpp"
 #include "src/mrpt/math/CMatrixDynamic.cpp"
 #include "src/mrpt/math/CMatrixF.cpp"
 #include "src/mrpt/math/CMatrixFixed_1.cpp"
 #include "src/mrpt/math/CMatrixFixed_2.cpp"
 #include "src/mrpt/math/CMatrixFixed_3.cpp"
-#include "src/mrpt/math/CMatrixFixed_4.cpp"
 #include "src/mrpt/math/CMatrixFixed.cpp"
+#include "src/mrpt/math/MatrixVectorBase.cpp"
 #include "src/mrpt/math/CPolygon.cpp"
diff --git a/python/patch-003.diff b/python/patch-003.diff
index b41e393e13..9b6aae0632 100644
--- a/python/patch-003.diff
+++ b/python/patch-003.diff
@@ -1,334 +1,3 @@
-diff --git a/python/src/mrpt/math/CMatrixDynamic.cpp b/python/src/mrpt/math/CMatrixDynamic.cpp
-index 43b379213..edd9586d4 100644
---- a/python/src/mrpt/math/CMatrixDynamic.cpp
-+++ b/python/src/mrpt/math/CMatrixDynamic.cpp
-@@ -42,8 +42,8 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
- 		cl.def("derived", (class mrpt::math::CMatrixDynamic<float> & (mrpt::math::CMatrixDynamic<float>::*)()) &mrpt::math::CMatrixDynamic<float>::derived, "C++: mrpt::math::CMatrixDynamic<float>::derived() --> class mrpt::math::CMatrixDynamic<float> &", pybind11::return_value_policy::automatic);
- 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<float>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("data", (float * (mrpt::math::CMatrixDynamic<float>::*)()) &mrpt::math::CMatrixDynamic<float>::data, "C++: mrpt::math::CMatrixDynamic<float>::data() --> float *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::operator(), "C++: mrpt::math::CMatrixDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t)) &mrpt::math::CMatrixDynamic<float>::operator[], "C++: mrpt::math::CMatrixDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::operator(), "C++: mrpt::math::CMatrixDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__getitem__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t)) &mrpt::math::CMatrixDynamic<float>::operator[], "C++: mrpt::math::CMatrixDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<float>::*)() const) &mrpt::math::CMatrixDynamic<float>::cast_float, "C++: mrpt::math::CMatrixDynamic<float>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
- 		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<float>::*)() const) &mrpt::math::CMatrixDynamic<float>::cast_double, "C++: mrpt::math::CMatrixDynamic<float>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
- 		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<float> (mrpt::math::CMatrixDynamic<float>::*)(const class mrpt::math::CVectorDynamic<float> &) const) &mrpt::math::CMatrixDynamic<float>::llt_solve, "C++: mrpt::math::CMatrixDynamic<float>::llt_solve(const class mrpt::math::CVectorDynamic<float> &) const --> class mrpt::math::CVectorDynamic<float>", pybind11::arg("b"));
-@@ -70,8 +70,8 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
- 		cl.def("derived", (class mrpt::math::CMatrixDynamic<unsigned char> & (mrpt::math::CMatrixDynamic<unsigned char>::*)()) &mrpt::math::CMatrixDynamic<unsigned char>::derived, "C++: mrpt::math::CMatrixDynamic<unsigned char>::derived() --> class mrpt::math::CMatrixDynamic<unsigned char> &", pybind11::return_value_policy::automatic);
- 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<unsigned char>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("data", (unsigned char * (mrpt::math::CMatrixDynamic<unsigned char>::*)()) &mrpt::math::CMatrixDynamic<unsigned char>::data, "C++: mrpt::math::CMatrixDynamic<unsigned char>::data() --> unsigned char *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator()(size_t, size_t) --> unsigned char &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator[](size_t) --> unsigned char &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
-+		cl.def("__call__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator()(size_t, size_t) --> unsigned char &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__getitem__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator[](size_t) --> unsigned char &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
- 	}
- 	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
- 		pybind11::class_<mrpt::math::CMatrixDynamic<unsigned short>, std::shared_ptr<mrpt::math::CMatrixDynamic<unsigned short>>> cl(M("mrpt::math"), "CMatrixDynamic_unsigned_short_t", "");
-@@ -94,7 +94,7 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
- 		cl.def("derived", (class mrpt::math::CMatrixDynamic<unsigned short> & (mrpt::math::CMatrixDynamic<unsigned short>::*)()) &mrpt::math::CMatrixDynamic<unsigned short>::derived, "C++: mrpt::math::CMatrixDynamic<unsigned short>::derived() --> class mrpt::math::CMatrixDynamic<unsigned short> &", pybind11::return_value_policy::automatic);
- 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<unsigned short>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("data", (unsigned short * (mrpt::math::CMatrixDynamic<unsigned short>::*)()) &mrpt::math::CMatrixDynamic<unsigned short>::data, "C++: mrpt::math::CMatrixDynamic<unsigned short>::data() --> unsigned short *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator()(size_t, size_t) --> unsigned short &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator[](size_t) --> unsigned short &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
-+		cl.def("__call__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator()(size_t, size_t) --> unsigned short &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__getitem__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator[](size_t) --> unsigned short &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
- 	}
- }
-diff --git a/python/src/mrpt/math/CMatrixDynamic_1.cpp b/python/src/mrpt/math/CMatrixDynamic_1.cpp
-index 2867b9ecf..7eae41c0a 100644
---- a/python/src/mrpt/math/CMatrixDynamic_1.cpp
-+++ b/python/src/mrpt/math/CMatrixDynamic_1.cpp
-@@ -127,8 +127,8 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
- 		cl.def("derived", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::derived, "C++: mrpt::math::CMatrixDynamic<double>::derived() --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic);
- 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<double>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("data", (double * (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::data, "C++: mrpt::math::CMatrixDynamic<double>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t)) &mrpt::math::CMatrixDynamic<double>::operator[], "C++: mrpt::math::CMatrixDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t)) &mrpt::math::CMatrixDynamic<double>::operator[], "C++: mrpt::math::CMatrixDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_float, "C++: mrpt::math::CMatrixDynamic<double>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
- 		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_double, "C++: mrpt::math::CMatrixDynamic<double>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
- 		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::llt_solve, "C++: mrpt::math::CMatrixDynamic<double>::llt_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
-diff --git a/python/src/mrpt/math/CMatrixFixed.cpp b/python/src/mrpt/math/CMatrixFixed.cpp
-index e4a508e5f..342ed0569 100644
---- a/python/src/mrpt/math/CMatrixFixed.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed.cpp
-@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 2>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 2> & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> class mrpt::math::CMatrixFixed<double, 2, 2> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
- 	}
-@@ -64,9 +64,9 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 3> & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixFixed<double, 3, 3> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-@@ -91,9 +91,9 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 4>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 4> (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 4>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 4> &)) &mrpt::math::CMatrixFixed<double, 4, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 4> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 4, 4> & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 4> &)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator=, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator=(const class mrpt::math::CMatrixFixed<double, 4, 4> &) --> class mrpt::math::CMatrixFixed<double, 4, 4> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-@@ -118,9 +118,9 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 6>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 6>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 6>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 6> &)) &mrpt::math::CMatrixFixed<double, 6, 6>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 6> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 6, 6> & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 6> &)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator=, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator=(const class mrpt::math::CMatrixFixed<double, 6, 6> &) --> class mrpt::math::CMatrixFixed<double, 6, 6> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
- 	}
-diff --git a/python/src/mrpt/math/CMatrixFixed_1.cpp b/python/src/mrpt/math/CMatrixFixed_1.cpp
-index ed3593796..c0eee45ec 100644
---- a/python/src/mrpt/math/CMatrixFixed_1.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed_1.cpp
-@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 7>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 7, 7> & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator=, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator=(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> class mrpt::math::CMatrixFixed<double, 7, 7> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
- 	}
-@@ -64,9 +64,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 1> & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> class mrpt::math::CMatrixFixed<double, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-@@ -91,9 +91,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 4>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 4>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 4>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 4> &)) &mrpt::math::CMatrixFixed<double, 3, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 4> &) --> void", pybind11::arg("A"));
- 	}
- 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-@@ -116,9 +116,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 6>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 6>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 6>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 6> &)) &mrpt::math::CMatrixFixed<double, 3, 6>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 6> &) --> void", pybind11::arg("A"));
- 	}
- }
-diff --git a/python/src/mrpt/math/CMatrixFixed_2.cpp b/python/src/mrpt/math/CMatrixFixed_2.cpp
-index 7ce27e1bf..f8bc51568 100644
---- a/python/src/mrpt/math/CMatrixFixed_2.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed_2.cpp
-@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 1> & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> class mrpt::math::CMatrixFixed<double, 2, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
- 	}
-@@ -64,9 +64,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 1> &)) &mrpt::math::CMatrixFixed<double, 6, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 1> &) --> void", pybind11::arg("A"));
- 	}
- 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-@@ -89,9 +89,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 1> &)) &mrpt::math::CMatrixFixed<double, 7, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 1> &) --> void", pybind11::arg("A"));
- 	}
- 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-@@ -114,9 +114,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 1> &)) &mrpt::math::CMatrixFixed<double, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 1> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 4, 1> & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 1> &)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 4, 1> &) --> class mrpt::math::CMatrixFixed<double, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-diff --git a/python/src/mrpt/math/CMatrixFixed_3.cpp b/python/src/mrpt/math/CMatrixFixed_3.cpp
-index 7844b2818..2eb493a48 100644
---- a/python/src/mrpt/math/CMatrixFixed_3.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed_3.cpp
-@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 3> &)) &mrpt::math::CMatrixFixed<double, 4, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 3> &) --> void", pybind11::arg("A"));
- 	}
- 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-@@ -62,9 +62,9 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cols() const --> int");
- 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::data() --> float *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 3> &)) &mrpt::math::CMatrixFixed<float, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 3> &) --> void", pybind11::arg("A"));
- 	}
-@@ -88,9 +88,9 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::cols() const --> int");
- 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 4>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::data() --> float *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 4> (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 4>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 4> &)) &mrpt::math::CMatrixFixed<float, 4, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 4> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 4> & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 4> &)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 4> &) --> class mrpt::math::CMatrixFixed<float, 4, 4> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-@@ -115,9 +115,9 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::cols() const --> int");
- 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::data() --> float *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 3, 1> & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> class mrpt::math::CMatrixFixed<float, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-diff --git a/python/src/mrpt/math/CMatrixFixed_4.cpp b/python/src/mrpt/math/CMatrixFixed_4.cpp
-index c2c8d6a73..5307d0b77 100644
---- a/python/src/mrpt/math/CMatrixFixed_4.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed_4.cpp
-@@ -39,9 +39,9 @@ void bind_mrpt_math_CMatrixFixed_4(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::cols() const --> int");
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 12, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::data() --> double *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 12, 1> &)) &mrpt::math::CMatrixFixed<double, 12, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 12, 1> &) --> void", pybind11::arg("A"));
- 	}
- 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-@@ -64,9 +64,9 @@ void bind_mrpt_math_CMatrixFixed_4(std::function< pybind11::module &(std::string
- 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::rows() const --> int");
- 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cols() const --> int");
- 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::data() --> float *", pybind11::return_value_policy::automatic);
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-+		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 1> & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> class mrpt::math::CMatrixFixed<float, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-diff --git a/python/src/mrpt/math/CVectorDynamic.cpp b/python/src/mrpt/math/CVectorDynamic.cpp
-index 780fbaa83..b9075ff96 100644
---- a/python/src/mrpt/math/CVectorDynamic.cpp
-+++ b/python/src/mrpt/math/CVectorDynamic.cpp
-@@ -46,8 +46,8 @@ void bind_mrpt_math_CVectorDynamic(std::function< pybind11::module &(std::string
- 		cl.def("resize", (void (mrpt::math::CVectorDynamic<double>::*)(std::size_t, bool)) &mrpt::math::CVectorDynamic<double>::resize, "C++: mrpt::math::CVectorDynamic<double>::resize(std::size_t, bool) --> void", pybind11::arg("N"), pybind11::arg("zeroNewElements"));
- 		cl.def("push_back", (void (mrpt::math::CVectorDynamic<double>::*)(const double &)) &mrpt::math::CVectorDynamic<double>::push_back, "C++: mrpt::math::CVectorDynamic<double>::push_back(const double &) --> void", pybind11::arg("val"));
- 		cl.def("segmentCopy", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CVectorDynamic<double>::*)(int, int) const) &mrpt::math::CVectorDynamic<double>::segmentCopy, "C++: mrpt::math::CVectorDynamic<double>::segmentCopy(int, int) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("start"), pybind11::arg("LEN"));
--		cl.def("__call__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<double>::operator(), "C++: mrpt::math::CVectorDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t)) &mrpt::math::CVectorDynamic<double>::operator[], "C++: mrpt::math::CVectorDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
-+		cl.def("__call__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<double>::operator(), "C++: mrpt::math::CVectorDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__getitem__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t)) &mrpt::math::CVectorDynamic<double>::operator[], "C++: mrpt::math::CVectorDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
- 		cl.def("assign", (class mrpt::math::CVectorDynamic<double> & (mrpt::math::CVectorDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &)) &mrpt::math::CVectorDynamic<double>::operator=, "C++: mrpt::math::CVectorDynamic<double>::operator=(const class mrpt::math::CVectorDynamic<double> &) --> class mrpt::math::CVectorDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
- 	}
- 	{ // mrpt::math::CVectorDynamic file:mrpt/math/CVectorDynamic.h line:32
-@@ -70,8 +70,8 @@ void bind_mrpt_math_CVectorDynamic(std::function< pybind11::module &(std::string
- 		cl.def("resize", (void (mrpt::math::CVectorDynamic<float>::*)(std::size_t, bool)) &mrpt::math::CVectorDynamic<float>::resize, "C++: mrpt::math::CVectorDynamic<float>::resize(std::size_t, bool) --> void", pybind11::arg("N"), pybind11::arg("zeroNewElements"));
- 		cl.def("push_back", (void (mrpt::math::CVectorDynamic<float>::*)(const float &)) &mrpt::math::CVectorDynamic<float>::push_back, "C++: mrpt::math::CVectorDynamic<float>::push_back(const float &) --> void", pybind11::arg("val"));
- 		cl.def("segmentCopy", (class mrpt::math::CVectorDynamic<float> (mrpt::math::CVectorDynamic<float>::*)(int, int) const) &mrpt::math::CVectorDynamic<float>::segmentCopy, "C++: mrpt::math::CVectorDynamic<float>::segmentCopy(int, int) const --> class mrpt::math::CVectorDynamic<float>", pybind11::arg("start"), pybind11::arg("LEN"));
--		cl.def("__call__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<float>::operator(), "C++: mrpt::math::CVectorDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t)) &mrpt::math::CVectorDynamic<float>::operator[], "C++: mrpt::math::CVectorDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
-+		cl.def("__call__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<float>::operator(), "C++: mrpt::math::CVectorDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-+		cl.def("__getitem__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t)) &mrpt::math::CVectorDynamic<float>::operator[], "C++: mrpt::math::CVectorDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
- 		cl.def("assign", (class mrpt::math::CVectorDynamic<float> & (mrpt::math::CVectorDynamic<float>::*)(const class mrpt::math::CVectorDynamic<float> &)) &mrpt::math::CVectorDynamic<float>::operator=, "C++: mrpt::math::CVectorDynamic<float>::operator=(const class mrpt::math::CVectorDynamic<float> &) --> class mrpt::math::CVectorDynamic<float> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
- 	}
- }
 diff --git a/python/src/mrpt/math/TPoint2D.cpp b/python/src/mrpt/math/TPoint2D.cpp
 index 80c7704f4..d137dc43c 100644
 --- a/python/src/mrpt/math/TPoint2D.cpp
diff --git a/python/patch-004.diff b/python/patch-004.diff
index 70ce801a27..e0acd99abe 100644
--- a/python/patch-004.diff
+++ b/python/patch-004.diff
@@ -1,12 +1,14 @@
 diff --git a/python/src/mrpt/math/CMatrixDynamic.cpp b/python/src/mrpt/math/CMatrixDynamic.cpp
-index edd9586d4..1b600737a 100644
+index 43b379213..1b600737a 100644
 --- a/python/src/mrpt/math/CMatrixDynamic.cpp
 +++ b/python/src/mrpt/math/CMatrixDynamic.cpp
-@@ -43,11 +43,23 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
+@@ -42,12 +42,24 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
+ 		cl.def("derived", (class mrpt::math::CMatrixDynamic<float> & (mrpt::math::CMatrixDynamic<float>::*)()) &mrpt::math::CMatrixDynamic<float>::derived, "C++: mrpt::math::CMatrixDynamic<float>::derived() --> class mrpt::math::CMatrixDynamic<float> &", pybind11::return_value_policy::automatic);
  		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<float>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
  		cl.def("data", (float * (mrpt::math::CMatrixDynamic<float>::*)()) &mrpt::math::CMatrixDynamic<float>::data, "C++: mrpt::math::CMatrixDynamic<float>::data() --> float *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::operator(), "C++: mrpt::math::CMatrixDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t)) &mrpt::math::CMatrixDynamic<float>::operator[], "C++: mrpt::math::CMatrixDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::operator(), "C++: mrpt::math::CMatrixDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__getitem__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t)) &mrpt::math::CMatrixDynamic<float>::operator[], "C++: mrpt::math::CMatrixDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixDynamic<float>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<float>::operator(), "C++: mrpt::math::CMatrixDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
  		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<float>::*)() const) &mrpt::math::CMatrixDynamic<float>::cast_float, "C++: mrpt::math::CMatrixDynamic<float>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
  		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<float>::*)() const) &mrpt::math::CMatrixDynamic<float>::cast_double, "C++: mrpt::math::CMatrixDynamic<float>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
  		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<float> (mrpt::math::CMatrixDynamic<float>::*)(const class mrpt::math::CVectorDynamic<float> &) const) &mrpt::math::CMatrixDynamic<float>::llt_solve, "C++: mrpt::math::CMatrixDynamic<float>::llt_solve(const class mrpt::math::CVectorDynamic<float> &) const --> class mrpt::math::CVectorDynamic<float>", pybind11::arg("b"));
@@ -27,15 +29,93 @@ index edd9586d4..1b600737a 100644
  	}
  	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
  		pybind11::class_<mrpt::math::CMatrixDynamic<unsigned char>, std::shared_ptr<mrpt::math::CMatrixDynamic<unsigned char>>> cl(M("mrpt::math"), "CMatrixDynamic_unsigned_char_t", "");
+@@ -70,8 +82,8 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
+ 		cl.def("derived", (class mrpt::math::CMatrixDynamic<unsigned char> & (mrpt::math::CMatrixDynamic<unsigned char>::*)()) &mrpt::math::CMatrixDynamic<unsigned char>::derived, "C++: mrpt::math::CMatrixDynamic<unsigned char>::derived() --> class mrpt::math::CMatrixDynamic<unsigned char> &", pybind11::return_value_policy::automatic);
+ 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<unsigned char>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+ 		cl.def("data", (unsigned char * (mrpt::math::CMatrixDynamic<unsigned char>::*)()) &mrpt::math::CMatrixDynamic<unsigned char>::data, "C++: mrpt::math::CMatrixDynamic<unsigned char>::data() --> unsigned char *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator()(size_t, size_t) --> unsigned char &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__getitem__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator[](size_t) --> unsigned char &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
++		cl.def("__call__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator()(size_t, size_t) --> unsigned char &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__getitem__", (unsigned char & (mrpt::math::CMatrixDynamic<unsigned char>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned char>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned char>::operator[](size_t) --> unsigned char &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+ 	}
+ 	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
+ 		pybind11::class_<mrpt::math::CMatrixDynamic<unsigned short>, std::shared_ptr<mrpt::math::CMatrixDynamic<unsigned short>>> cl(M("mrpt::math"), "CMatrixDynamic_unsigned_short_t", "");
+@@ -94,7 +106,7 @@ void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string
+ 		cl.def("derived", (class mrpt::math::CMatrixDynamic<unsigned short> & (mrpt::math::CMatrixDynamic<unsigned short>::*)()) &mrpt::math::CMatrixDynamic<unsigned short>::derived, "C++: mrpt::math::CMatrixDynamic<unsigned short>::derived() --> class mrpt::math::CMatrixDynamic<unsigned short> &", pybind11::return_value_policy::automatic);
+ 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<unsigned short>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+ 		cl.def("data", (unsigned short * (mrpt::math::CMatrixDynamic<unsigned short>::*)()) &mrpt::math::CMatrixDynamic<unsigned short>::data, "C++: mrpt::math::CMatrixDynamic<unsigned short>::data() --> unsigned short *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator()(size_t, size_t) --> unsigned short &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__getitem__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator[](size_t) --> unsigned short &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
++		cl.def("__call__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator(), "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator()(size_t, size_t) --> unsigned short &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__getitem__", (unsigned short & (mrpt::math::CMatrixDynamic<unsigned short>::*)(size_t)) &mrpt::math::CMatrixDynamic<unsigned short>::operator[], "C++: mrpt::math::CMatrixDynamic<unsigned short>::operator[](size_t) --> unsigned short &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+ 	}
+ }
 diff --git a/python/src/mrpt/math/CMatrixDynamic_1.cpp b/python/src/mrpt/math/CMatrixDynamic_1.cpp
-index 7eae41c0a..70f933be5 100644
+index 5e303af0c..be42731ed 100644
 --- a/python/src/mrpt/math/CMatrixDynamic_1.cpp
 +++ b/python/src/mrpt/math/CMatrixDynamic_1.cpp
-@@ -128,11 +128,23 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
+@@ -48,8 +48,8 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
+ 		cl.def("derived", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)()) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::derived, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::derived() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &", pybind11::return_value_policy::automatic);
+ 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+ 		cl.def("data", (struct mrpt::math::TPoint3D_<float> * (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)()) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data() --> struct mrpt::math::TPoint3D_<float> *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
++		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+ 		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)() const) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_float, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
+ 		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)() const) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_double, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
+ 	}
+@@ -73,9 +73,9 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 2>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> void", pybind11::arg("A"));
+ 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 2> & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> class mrpt::math::CMatrixFixed<double, 2, 2> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+ 	}
+@@ -99,11 +99,23 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("A"));
+ 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 3> & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixFixed<double, 3, 3> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
++
++		// Manually-added matrix methods:
++		using dat_t = double;
++		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
++		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
++		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
++		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
++		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
++		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
++		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
++		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
++		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
++		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
+ 	}
+ }
+diff --git a/python/src/mrpt/math/CMatrixDynamic_2.cpp b/python/src/mrpt/math/CMatrixDynamic_2.cpp
+index ff79a4a0a..4865de614 100644
+--- a/python/src/mrpt/math/CMatrixDynamic_2.cpp
++++ b/python/src/mrpt/math/CMatrixDynamic_2.cpp
+@@ -127,12 +127,24 @@ void bind_mrpt_math_CMatrixDynamic_2(std::function< pybind11::module &(std::stri
+ 		cl.def("derived", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::derived, "C++: mrpt::math::CMatrixDynamic<double>::derived() --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic);
  		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<double>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
  		cl.def("data", (double * (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::data, "C++: mrpt::math::CMatrixDynamic<double>::data() --> double *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t)) &mrpt::math::CMatrixDynamic<double>::operator[], "C++: mrpt::math::CMatrixDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t)) &mrpt::math::CMatrixDynamic<double>::operator[], "C++: mrpt::math::CMatrixDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
  		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_float, "C++: mrpt::math::CMatrixDynamic<double>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
  		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_double, "C++: mrpt::math::CMatrixDynamic<double>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
  		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::llt_solve, "C++: mrpt::math::CMatrixDynamic<double>::llt_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
@@ -54,41 +134,21 @@ index 7eae41c0a..70f933be5 100644
 +		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 +		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
  	}
- 	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
- 		pybind11::class_<mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>, std::shared_ptr<mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>, mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>> cl(M("mrpt::math"), "CMatrixDynamic_mrpt_math_TPoint3D_float_t", "");
+ 	{ // mrpt::math::CMatrixD file:mrpt/math/CMatrixD.h line:23
+ 		pybind11::class_<mrpt::math::CMatrixD, std::shared_ptr<mrpt::math::CMatrixD>, PyCallBack_mrpt_math_CMatrixD, mrpt::serialization::CSerializable, mrpt::math::CMatrixDynamic<double>> cl(M("mrpt::math"), "CMatrixD", "This class is a \"CSerializable\" wrapper for\n \"CMatrixDynamic<double>\".\n \n\n For a complete introduction to Matrices and vectors in MRPT, see:\n https://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes\n \n\n\n ");
 diff --git a/python/src/mrpt/math/CMatrixFixed.cpp b/python/src/mrpt/math/CMatrixFixed.cpp
-index 342ed0569..877ac0cb4 100644
+index a9ec794ef..2168c4bf9 100644
 --- a/python/src/mrpt/math/CMatrixFixed.cpp
 +++ b/python/src/mrpt/math/CMatrixFixed.cpp
-@@ -66,10 +66,22 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
- 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::data() --> double *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
- 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
- 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("A"));
- 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 3> & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixFixed<double, 3, 3> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-+
-+		// Manually-added matrix methods:
-+		using dat_t = double;
-+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
-+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
-+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
-+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
-+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
-+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
-+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
-+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
- 	}
- 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
- 		pybind11::class_<mrpt::math::CMatrixFixed<double,4UL,4UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,4UL,4UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_4UL_4UL_t", "");
-@@ -93,10 +105,22 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
+@@ -38,12 +38,24 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::cols() const --> int");
  		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 4>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::data() --> double *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 4> (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 4>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 4>");
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 4> &)) &mrpt::math::CMatrixFixed<double, 4, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 4> &) --> void", pybind11::arg("A"));
  		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 4, 4> & (mrpt::math::CMatrixFixed<double,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 4> &)) &mrpt::math::CMatrixFixed<double, 4, 4>::operator=, "C++: mrpt::math::CMatrixFixed<double, 4, 4>::operator=(const class mrpt::math::CMatrixFixed<double, 4, 4> &) --> class mrpt::math::CMatrixFixed<double, 4, 4> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
@@ -108,11 +168,15 @@ index 342ed0569..877ac0cb4 100644
  	}
  	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
  		pybind11::class_<mrpt::math::CMatrixFixed<double,6UL,6UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,6UL,6UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_6UL_6UL_t", "");
-@@ -120,8 +144,21 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
+@@ -65,11 +77,23 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 6>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 6>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::cols() const --> int");
  		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 6>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::data() --> double *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 6> &)) &mrpt::math::CMatrixFixed<double, 6, 6>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 6> &) --> void", pybind11::arg("A"));
  		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 6, 6> & (mrpt::math::CMatrixFixed<double,6UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 6> &)) &mrpt::math::CMatrixFixed<double, 6, 6>::operator=, "C++: mrpt::math::CMatrixFixed<double, 6, 6>::operator=(const class mrpt::math::CMatrixFixed<double, 6, 6> &) --> class mrpt::math::CMatrixFixed<double, 6, 6> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 +
@@ -128,18 +192,31 @@ index 342ed0569..877ac0cb4 100644
 +		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
 +		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 +		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
-+
  	}
- }
-diff --git a/python/src/mrpt/math/CMatrixFixed_1.cpp b/python/src/mrpt/math/CMatrixFixed_1.cpp
-index c0eee45ec..9e7db6b2b 100644
---- a/python/src/mrpt/math/CMatrixFixed_1.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed_1.cpp
-@@ -66,10 +66,21 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+ 		pybind11::class_<mrpt::math::CMatrixFixed<double,7UL,7UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,7UL,7UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_7UL_7UL_t", "");
+@@ -91,9 +115,9 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 7>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> void", pybind11::arg("A"));
+ 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 7, 7> & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator=, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator=(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> class mrpt::math::CMatrixFixed<double, 7, 7> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+ 	}
+@@ -117,11 +141,22 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cols() const --> int");
  		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::data() --> double *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> void", pybind11::arg("A"));
  		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 1> & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> class mrpt::math::CMatrixFixed<double, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
@@ -156,17 +233,89 @@ index c0eee45ec..9e7db6b2b 100644
 +		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 +		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
  	}
+ }
+diff --git a/python/src/mrpt/math/CMatrixFixed_1.cpp b/python/src/mrpt/math/CMatrixFixed_1.cpp
+index 0c09358f1..e182c663a 100644
+--- a/python/src/mrpt/math/CMatrixFixed_1.cpp
++++ b/python/src/mrpt/math/CMatrixFixed_1.cpp
+@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 4>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 4>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 4>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 4>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 4>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,4UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 4> &)) &mrpt::math::CMatrixFixed<double, 3, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 4>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 4> &) --> void", pybind11::arg("A"));
+ 	}
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+@@ -63,9 +63,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 6>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 6>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 6>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 6> &)) &mrpt::math::CMatrixFixed<double, 3, 6>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 6> &) --> void", pybind11::arg("A"));
+ 	}
  	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
- 		pybind11::class_<mrpt::math::CMatrixFixed<double,3UL,4UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,3UL,4UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_3UL_4UL_t", "");
+@@ -88,9 +88,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> void", pybind11::arg("A"));
+ 		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 1> & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> class mrpt::math::CMatrixFixed<double, 2, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+ 	}
+@@ -114,9 +114,9 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 1> &)) &mrpt::math::CMatrixFixed<double, 6, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 1> &) --> void", pybind11::arg("A"));
+ 	}
+ }
 diff --git a/python/src/mrpt/math/CMatrixFixed_2.cpp b/python/src/mrpt/math/CMatrixFixed_2.cpp
-index f8bc51568..88d8935ca 100644
+index 4cfc7c55d..2f75fb4ea 100644
 --- a/python/src/mrpt/math/CMatrixFixed_2.cpp
 +++ b/python/src/mrpt/math/CMatrixFixed_2.cpp
-@@ -116,9 +116,20 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
+@@ -38,9 +38,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 1> &)) &mrpt::math::CMatrixFixed<double, 7, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 1> &) --> void", pybind11::arg("A"));
+ 	}
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+@@ -63,12 +63,23 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::cols() const --> int");
  		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::data() --> double *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 1> &)) &mrpt::math::CMatrixFixed<double, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 1> &) --> void", pybind11::arg("A"));
  		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 4, 1> & (mrpt::math::CMatrixFixed<double,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 1> &)) &mrpt::math::CMatrixFixed<double, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 4, 1> &) --> class mrpt::math::CMatrixFixed<double, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
@@ -183,16 +332,30 @@ index f8bc51568..88d8935ca 100644
 +		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 +		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
  	}
- }
-diff --git a/python/src/mrpt/math/CMatrixFixed_3.cpp b/python/src/mrpt/math/CMatrixFixed_3.cpp
-index 2eb493a48..916e0bad4 100644
---- a/python/src/mrpt/math/CMatrixFixed_3.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed_3.cpp
-@@ -64,9 +64,21 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+ 		pybind11::class_<mrpt::math::CMatrixFixed<double,4UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,4UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_4UL_3UL_t", "");
+@@ -90,9 +101,9 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 3> &)) &mrpt::math::CMatrixFixed<double, 4, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 3> &) --> void", pybind11::arg("A"));
+ 	}
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+@@ -114,10 +125,22 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cols() const --> int");
  		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::data() --> float *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 3> &)) &mrpt::math::CMatrixFixed<float, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 3> &) --> void", pybind11::arg("A"));
 +
@@ -209,13 +372,20 @@ index 2eb493a48..916e0bad4 100644
 +		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 +		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
  	}
- 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
- 		pybind11::class_<mrpt::math::CMatrixFixed<float,4UL,4UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,4UL,4UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_4UL_4UL_t", "");
-@@ -90,10 +102,22 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
+ }
+diff --git a/python/src/mrpt/math/CMatrixFixed_3.cpp b/python/src/mrpt/math/CMatrixFixed_3.cpp
+index 9f57fa132..0192960f3 100644
+--- a/python/src/mrpt/math/CMatrixFixed_3.cpp
++++ b/python/src/mrpt/math/CMatrixFixed_3.cpp
+@@ -38,12 +38,24 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::cols() const --> int");
  		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 4>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::data() --> float *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 4> (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 4>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 4>");
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 4> &)) &mrpt::math::CMatrixFixed<float, 4, 4>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 4> &) --> void", pybind11::arg("A"));
  		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 4> & (mrpt::math::CMatrixFixed<float,4UL,4UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 4> &)) &mrpt::math::CMatrixFixed<float, 4, 4>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 4>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 4> &) --> class mrpt::math::CMatrixFixed<float, 4, 4> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
@@ -235,7 +405,15 @@ index 2eb493a48..916e0bad4 100644
  	}
  	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
  		pybind11::class_<mrpt::math::CMatrixFixed<float,3UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,3UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_3UL_1UL_t", "");
-@@ -121,5 +145,18 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
+@@ -65,12 +77,23 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::cols() const --> int");
+ 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::data() --> float *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> void", pybind11::arg("A"));
  		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 3, 1> & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> class mrpt::math::CMatrixFixed<float, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
@@ -251,18 +429,31 @@ index 2eb493a48..916e0bad4 100644
 +		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
 +		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 +		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
-+
  	}
- }
-diff --git a/python/src/mrpt/math/CMatrixFixed_4.cpp b/python/src/mrpt/math/CMatrixFixed_4.cpp
-index 5307d0b77..1fef0199e 100644
---- a/python/src/mrpt/math/CMatrixFixed_4.cpp
-+++ b/python/src/mrpt/math/CMatrixFixed_4.cpp
-@@ -66,10 +66,21 @@ void bind_mrpt_math_CMatrixFixed_4(std::function< pybind11::module &(std::string
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+ 		pybind11::class_<mrpt::math::CMatrixFixed<double,12UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,12UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_12UL_1UL_t", "");
+@@ -92,9 +115,9 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::cols() const --> int");
+ 		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 12, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
++		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+ 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 12, 1> &)) &mrpt::math::CMatrixFixed<double, 12, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 12, 1> &) --> void", pybind11::arg("A"));
+ 	}
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+@@ -117,11 +140,22 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
+ 		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::rows() const --> int");
+ 		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cols() const --> int");
  		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::data() --> float *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
--		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
+-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator[](int) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("i"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
  		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
  		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> void", pybind11::arg("A"));
  		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 1> & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> class mrpt::math::CMatrixFixed<float, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
@@ -279,5 +470,30 @@ index 5307d0b77..1fef0199e 100644
 +		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 +		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
  	}
- 	// mrpt::math::TMatrixTextFileFormat file:mrpt/math/MatrixVectorBase.h line:35
- 	pybind11::enum_<mrpt::math::TMatrixTextFileFormat>(M("mrpt::math"), "TMatrixTextFileFormat", pybind11::arithmetic(), "Selection of the number format in MatrixVectorBase::saveToTextFile()\n \n")
+ }
+diff --git a/python/src/mrpt/math/CVectorDynamic.cpp b/python/src/mrpt/math/CVectorDynamic.cpp
+index 780fbaa83..b9075ff96 100644
+--- a/python/src/mrpt/math/CVectorDynamic.cpp
++++ b/python/src/mrpt/math/CVectorDynamic.cpp
+@@ -46,8 +46,8 @@ void bind_mrpt_math_CVectorDynamic(std::function< pybind11::module &(std::string
+ 		cl.def("resize", (void (mrpt::math::CVectorDynamic<double>::*)(std::size_t, bool)) &mrpt::math::CVectorDynamic<double>::resize, "C++: mrpt::math::CVectorDynamic<double>::resize(std::size_t, bool) --> void", pybind11::arg("N"), pybind11::arg("zeroNewElements"));
+ 		cl.def("push_back", (void (mrpt::math::CVectorDynamic<double>::*)(const double &)) &mrpt::math::CVectorDynamic<double>::push_back, "C++: mrpt::math::CVectorDynamic<double>::push_back(const double &) --> void", pybind11::arg("val"));
+ 		cl.def("segmentCopy", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CVectorDynamic<double>::*)(int, int) const) &mrpt::math::CVectorDynamic<double>::segmentCopy, "C++: mrpt::math::CVectorDynamic<double>::segmentCopy(int, int) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("start"), pybind11::arg("LEN"));
+-		cl.def("__call__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<double>::operator(), "C++: mrpt::math::CVectorDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__getitem__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t)) &mrpt::math::CVectorDynamic<double>::operator[], "C++: mrpt::math::CVectorDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
++		cl.def("__call__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<double>::operator(), "C++: mrpt::math::CVectorDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__getitem__", (double & (mrpt::math::CVectorDynamic<double>::*)(size_t)) &mrpt::math::CVectorDynamic<double>::operator[], "C++: mrpt::math::CVectorDynamic<double>::operator[](size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+ 		cl.def("assign", (class mrpt::math::CVectorDynamic<double> & (mrpt::math::CVectorDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &)) &mrpt::math::CVectorDynamic<double>::operator=, "C++: mrpt::math::CVectorDynamic<double>::operator=(const class mrpt::math::CVectorDynamic<double> &) --> class mrpt::math::CVectorDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+ 	}
+ 	{ // mrpt::math::CVectorDynamic file:mrpt/math/CVectorDynamic.h line:32
+@@ -70,8 +70,8 @@ void bind_mrpt_math_CVectorDynamic(std::function< pybind11::module &(std::string
+ 		cl.def("resize", (void (mrpt::math::CVectorDynamic<float>::*)(std::size_t, bool)) &mrpt::math::CVectorDynamic<float>::resize, "C++: mrpt::math::CVectorDynamic<float>::resize(std::size_t, bool) --> void", pybind11::arg("N"), pybind11::arg("zeroNewElements"));
+ 		cl.def("push_back", (void (mrpt::math::CVectorDynamic<float>::*)(const float &)) &mrpt::math::CVectorDynamic<float>::push_back, "C++: mrpt::math::CVectorDynamic<float>::push_back(const float &) --> void", pybind11::arg("val"));
+ 		cl.def("segmentCopy", (class mrpt::math::CVectorDynamic<float> (mrpt::math::CVectorDynamic<float>::*)(int, int) const) &mrpt::math::CVectorDynamic<float>::segmentCopy, "C++: mrpt::math::CVectorDynamic<float>::segmentCopy(int, int) const --> class mrpt::math::CVectorDynamic<float>", pybind11::arg("start"), pybind11::arg("LEN"));
+-		cl.def("__call__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<float>::operator(), "C++: mrpt::math::CVectorDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
+-		cl.def("__getitem__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t)) &mrpt::math::CVectorDynamic<float>::operator[], "C++: mrpt::math::CVectorDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
++		cl.def("__call__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t, size_t)) &mrpt::math::CVectorDynamic<float>::operator(), "C++: mrpt::math::CVectorDynamic<float>::operator()(size_t, size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
++		cl.def("__getitem__", (float & (mrpt::math::CVectorDynamic<float>::*)(size_t)) &mrpt::math::CVectorDynamic<float>::operator[], "C++: mrpt::math::CVectorDynamic<float>::operator[](size_t) --> float &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+ 		cl.def("assign", (class mrpt::math::CVectorDynamic<float> & (mrpt::math::CVectorDynamic<float>::*)(const class mrpt::math::CVectorDynamic<float> &)) &mrpt::math::CVectorDynamic<float>::operator=, "C++: mrpt::math::CVectorDynamic<float>::operator=(const class mrpt::math::CVectorDynamic<float> &) --> class mrpt::math::CVectorDynamic<float> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+ 	}
+ }
diff --git a/python/patch-012.diff b/python/patch-012.diff
index 8b8494e627..e780aa47c4 100644
--- a/python/patch-012.diff
+++ b/python/patch-012.diff
@@ -1,65 +1,13 @@
 diff --git a/python/src/mrpt/math/CMatrixDynamic_1.cpp b/python/src/mrpt/math/CMatrixDynamic_1.cpp
-index dfdf72e93..889abe4da 100644
+index be42731ed..4d90b28d6 100644
 --- a/python/src/mrpt/math/CMatrixDynamic_1.cpp
 +++ b/python/src/mrpt/math/CMatrixDynamic_1.cpp
-@@ -95,60 +95,21 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
+@@ -50,8 +50,6 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
  		cl.def("data", (struct mrpt::math::TPoint3D_<float> * (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)()) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data() --> struct mrpt::math::TPoint3D_<float> *", pybind11::return_value_policy::automatic);
- 		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
- 		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
+ 		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+ 		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
 -		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)() const) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_float, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
 -		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)() const) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_double, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
- 		cl.def("mbDerived", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > & (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)()) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::mbDerived, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::mbDerived() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &", pybind11::return_value_policy::automatic);
--		cl.def("setDiagonal", (void (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const unsigned long, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setDiagonal, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setDiagonal(const unsigned long, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("N"), pybind11::arg("value"));
--		cl.def("setDiagonal", (void (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setDiagonal, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setDiagonal(const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("value"));
--		cl.def("setIdentity", (void (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)()) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setIdentity, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setIdentity() --> void");
--		cl.def("setIdentity", (void (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const unsigned long)) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setIdentity, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setIdentity(const unsigned long) --> void", pybind11::arg("N"));
--		cl.def_static("Identity", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)()) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Identity, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Identity() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >");
--		cl.def_static("Identity", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(const unsigned long)) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Identity, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Identity(const unsigned long) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("N"));
--		cl.def("matProductOf_AB", (void (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &, const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &)) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::matProductOf_AB, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::matProductOf_AB(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &, const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) --> void", pybind11::arg("A"), pybind11::arg("B"));
--		cl.def("det", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::det, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::det() const --> struct mrpt::math::TPoint3D_<float>");
--		cl.def("inverse", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inverse, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inverse() const --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >");
--		cl.def("inverse_LLt", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inverse_LLt, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inverse_LLt() const --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >");
--		cl.def("rank", [](mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o) -> int { return o.rank(); }, "");
--		cl.def("rank", (int (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(struct mrpt::math::TPoint3D_<float>) const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::rank, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::rank(struct mrpt::math::TPoint3D_<float>) const --> int", pybind11::arg("threshold"));
--		cl.def("chol", (bool (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::chol, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::chol(class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) const --> bool", pybind11::arg("U"));
--		cl.def("maximumDiagonal", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::maximumDiagonal, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::maximumDiagonal() const --> struct mrpt::math::TPoint3D_<float>");
--		cl.def("minimumDiagonal", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::minimumDiagonal, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::minimumDiagonal() const --> struct mrpt::math::TPoint3D_<float>");
--		cl.def("trace", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::trace, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::trace() const --> struct mrpt::math::TPoint3D_<float>");
- 		cl.def("assign", (class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > & (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &)) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=(const class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &) --> class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &", pybind11::return_value_policy::automatic, pybind11::arg(""));
--		cl.def("fill", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const struct mrpt::math::TPoint3D_<float> &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::fill, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::fill(const struct mrpt::math::TPoint3D_<float> &) --> void", pybind11::arg("val"));
- 		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("value"));
- 		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(size_t, size_t, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("nrows"), pybind11::arg("ncols"), pybind11::arg("value"));
- 		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(size_t, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("nrows"), pybind11::arg("value"));
- 		cl.def_static("Constant", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant(const struct mrpt::math::TPoint3D_<float>) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("value"));
- 		cl.def_static("Constant", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(size_t, size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant(size_t, size_t, const struct mrpt::math::TPoint3D_<float>) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("nrows"), pybind11::arg("ncols"), pybind11::arg("value"));
- 		cl.def("assign", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const unsigned long, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::assign, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::assign(const unsigned long, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("N"), pybind11::arg("value"));
--		cl.def("setZero", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)()) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero() --> void");
--		cl.def("setZero", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, size_t)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero(size_t, size_t) --> void", pybind11::arg("nrows"), pybind11::arg("ncols"));
--		cl.def("setZero", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero(size_t) --> void", pybind11::arg("nrows"));
--		cl.def_static("Zero", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)()) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >");
--		cl.def_static("Zero", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(size_t, size_t)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero(size_t, size_t) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("nrows"), pybind11::arg("ncols"));
- 		cl.def("coeffRef", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(int, int)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeffRef, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeffRef(int, int) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("r"), pybind11::arg("c"));
- 		cl.def("coeff", (const struct mrpt::math::TPoint3D_<float> & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(int, int) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeff, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeff(int, int) const --> const struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("r"), pybind11::arg("c"));
- 		cl.def("isSquare", (bool (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::isSquare, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::isSquare() const --> bool");
- 		cl.def("empty", (bool (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::empty, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::empty() const --> bool");
- 		cl.def("norm_inf", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm_inf, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm_inf() const --> struct mrpt::math::TPoint3D_<float>");
- 		cl.def("norm", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm() const --> struct mrpt::math::TPoint3D_<float>");
--		cl.def("__iadd__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=(struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("s"));
--		cl.def("__isub__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=(struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("s"));
--		cl.def("__imul__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator*=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator*=(struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("s"));
--		cl.def("__add__", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) const --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("m2"));
--		cl.def("__iadd__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) --> void", pybind11::arg("m2"));
--		cl.def("__isub__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) --> void", pybind11::arg("m2"));
--		cl.def("sum", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum() const --> struct mrpt::math::TPoint3D_<float>");
--		cl.def("sum_abs", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum_abs, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum_abs() const --> struct mrpt::math::TPoint3D_<float>");
- 		cl.def("asString", (std::string (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::asString, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::asString() const --> std::string");
--		cl.def("inMatlabFormat", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o) -> std::string { return o.inMatlabFormat(); }, "");
--		cl.def("inMatlabFormat", (std::string (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const unsigned long) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inMatlabFormat, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inMatlabFormat(const unsigned long) const --> std::string", pybind11::arg("decimal_digits"));
--		cl.def("saveToTextFile", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o, const std::string & a0) -> void { return o.saveToTextFile(a0); }, "", pybind11::arg("file"));
--		cl.def("saveToTextFile", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o, const std::string & a0, enum mrpt::math::TMatrixTextFileFormat const & a1) -> void { return o.saveToTextFile(a0, a1); }, "", pybind11::arg("file"), pybind11::arg("fileFormat"));
--		cl.def("saveToTextFile", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o, const std::string & a0, enum mrpt::math::TMatrixTextFileFormat const & a1, bool const & a2) -> void { return o.saveToTextFile(a0, a1, a2); }, "", pybind11::arg("file"), pybind11::arg("fileFormat"), pybind11::arg("appendMRPTHeader"));
--		cl.def("saveToTextFile", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const std::string &, enum mrpt::math::TMatrixTextFileFormat, bool, const std::string &) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::saveToTextFile, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::saveToTextFile(const std::string &, enum mrpt::math::TMatrixTextFileFormat, bool, const std::string &) const --> void", pybind11::arg("file"), pybind11::arg("fileFormat"), pybind11::arg("appendMRPTHeader"), pybind11::arg("userHeader"));
--		cl.def("loadFromTextFile", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const std::string &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::loadFromTextFile, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::loadFromTextFile(const std::string &) --> void", pybind11::arg("file"));
- 		cl.def("assign", (class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=(const class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &) --> class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &", pybind11::return_value_policy::automatic, pybind11::arg(""));
  	}
- }
+ 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+ 		pybind11::class_<mrpt::math::CMatrixFixed<double,2UL,2UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,2UL,2UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_2UL_2UL_t", "");
diff --git a/python/python.conf b/python/python.conf
index 3050455b82..7d7545f687 100644
--- a/python/python.conf
+++ b/python/python.conf
@@ -213,6 +213,7 @@
 -class mrpt::math::MatrixBase<double,mrpt::math::CMatrixFixed<double, 7, 7>>
 -class mrpt::math::MatrixBase<unsigned char,mrpt::math::CMatrixDynamic<unsigned char>>
 -class mrpt::math::MatrixBase<unsigned short,mrpt::math::CMatrixDynamic<unsigned short>>
+-class mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>
 -class mrpt::math::MatrixBase<float,mrpt::math::CMatrixDynamic<float>>
 -class mrpt::math::MatrixBase<float,mrpt::math::CMatrixFixed<float, 3, 1>>
 -class mrpt::math::MatrixBase<float,mrpt::math::CMatrixFixed<float, 3, 3>>
@@ -232,6 +233,7 @@
 -class mrpt::math::MatrixVectorBase<float,mrpt::math::CMatrixFixed<float, 3, 1>>
 -class mrpt::math::MatrixVectorBase<float,mrpt::math::CMatrixFixed<float, 4, 1>>
 -class mrpt::math::MatrixVectorBase<unsigned char,mrpt::math::CMatrixDynamic<unsigned char>>
+-class mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>
 -class mrpt::math::MatrixVectorBase<double,mrpt::math::CMatrixFixed<double, 2, 2>>
 -class mrpt::math::MatrixVectorBase<double,mrpt::math::CMatrixFixed<double, 7, 7>>
 -class mrpt::math::MatrixVectorBase<double,mrpt::math::CMatrixDynamic<double>>
diff --git a/python/src/mrpt/math/CMatrixDynamic_1.cpp b/python/src/mrpt/math/CMatrixDynamic_1.cpp
index 889abe4da9..4d90b28d64 100644
--- a/python/src/mrpt/math/CMatrixDynamic_1.cpp
+++ b/python/src/mrpt/math/CMatrixDynamic_1.cpp
@@ -3,7 +3,6 @@
 #include <mrpt/math/CMatrixDynamic.h>
 #include <mrpt/math/CMatrixFixed.h>
 #include <mrpt/math/CVectorDynamic.h>
-#include <mrpt/math/MatrixVectorBase.h>
 #include <mrpt/math/TPoint2D.h>
 #include <mrpt/math/TPoint3D.h>
 #include <mrpt/math/TPose2D.h>
@@ -29,51 +28,7 @@
 void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
 	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
-		pybind11::class_<mrpt::math::CMatrixDynamic<double>, std::shared_ptr<mrpt::math::CMatrixDynamic<double>>> cl(M("mrpt::math"), "CMatrixDynamic_double_t", "");
-		cl.def( pybind11::init( [](mrpt::math::CMatrixDynamic<double> const &o){ return new mrpt::math::CMatrixDynamic<double>(o); } ) );
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixDynamic<double>(); } ), "doc" );
-		cl.def( pybind11::init( [](size_t const & a0){ return new mrpt::math::CMatrixDynamic<double>(a0); } ), "doc" , pybind11::arg("row"));
-		cl.def( pybind11::init<size_t, size_t>(), pybind11::arg("row"), pybind11::arg("col") );
-
-		cl.def( pybind11::init<const class mrpt::math::CMatrixDynamic<double> &, size_t, size_t>(), pybind11::arg("m"), pybind11::arg("cropRowCount"), pybind11::arg("cropColCount") );
-
-		cl.def("setFromMatrixLike", (void (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<float> &)) &mrpt::math::CMatrixDynamic<double>::setFromMatrixLike<mrpt::math::CMatrixDynamic<float>>, "C++: mrpt::math::CMatrixDynamic<double>::setFromMatrixLike(const class mrpt::math::CMatrixDynamic<float> &) --> void", pybind11::arg("m"));
-		cl.def("setFromMatrixLike", (void (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixDynamic<double>::setFromMatrixLike<mrpt::math::CMatrixFixed<double, 3, 3>>, "C++: mrpt::math::CMatrixDynamic<double>::setFromMatrixLike(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("m"));
-		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<double> &)) &mrpt::math::CMatrixDynamic<double>::operator=<double>, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixDynamic<double> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
-		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<float> &)) &mrpt::math::CMatrixDynamic<double>::operator=<float>, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixDynamic<float> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
-		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixDynamic<double>::operator=<3UL,3UL>, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
-		cl.def("swap", (void (mrpt::math::CMatrixDynamic<double>::*)(class mrpt::math::CMatrixDynamic<double> &)) &mrpt::math::CMatrixDynamic<double>::swap, "C++: mrpt::math::CMatrixDynamic<double>::swap(class mrpt::math::CMatrixDynamic<double> &) --> void", pybind11::arg("o"));
-		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<double> &)) &mrpt::math::CMatrixDynamic<double>::operator=, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixDynamic<double> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
-		cl.def("rows", (int (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::rows, "C++: mrpt::math::CMatrixDynamic<double>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cols, "C++: mrpt::math::CMatrixDynamic<double>::cols() const --> int");
-		cl.def("setSize", [](mrpt::math::CMatrixDynamic<double> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixDynamic<double>::setSize, "C++: mrpt::math::CMatrixDynamic<double>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("resize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::resize, "C++: mrpt::math::CMatrixDynamic<double>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t)) &mrpt::math::CMatrixDynamic<double>::resize, "C++: mrpt::math::CMatrixDynamic<double>::resize(size_t) --> void", pybind11::arg("vectorLen"));
-		cl.def("derived", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::derived, "C++: mrpt::math::CMatrixDynamic<double>::derived() --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic);
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<double>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("data", (double * (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::data, "C++: mrpt::math::CMatrixDynamic<double>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_float, "C++: mrpt::math::CMatrixDynamic<double>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
-		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_double, "C++: mrpt::math::CMatrixDynamic<double>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
-		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::llt_solve, "C++: mrpt::math::CMatrixDynamic<double>::llt_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
-		cl.def("lu_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::lu_solve, "C++: mrpt::math::CMatrixDynamic<double>::lu_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
-
-		// Manually-added matrix methods:
-		using dat_t = double;
-		using mat_t = mrpt::math::CMatrixDynamic<dat_t>;
-		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
-		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
-		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
-		cl.def_static("Identity", [](const size_t N) -> mat_t { return mat_t::Identity(N); }, "Returns the NxN identity matrix");
-		cl.def_static("Zero", [](const size_t nRows, const size_t nCols) -> mat_t { return mat_t::Zero(nRows,nCols); }, "Returns a matrix with zeroes");
-		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
-		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
-	}
-	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
-		pybind11::class_<mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>, std::shared_ptr<mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>, mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>> cl(M("mrpt::math"), "CMatrixDynamic_mrpt_math_TPoint3D_float_t", "");
+		pybind11::class_<mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>, std::shared_ptr<mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>> cl(M("mrpt::math"), "CMatrixDynamic_mrpt_math_TPoint3D_float_t", "");
 		cl.def( pybind11::init( [](mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>> const &o){ return new mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>(o); } ) );
 		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>(); } ), "doc" );
 		cl.def( pybind11::init( [](size_t const & a0){ return new mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>(a0); } ), "doc" , pybind11::arg("row"));
@@ -93,23 +48,72 @@ void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::stri
 		cl.def("derived", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)()) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::derived, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::derived() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &", pybind11::return_value_policy::automatic);
 		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("data", (struct mrpt::math::TPoint3D_<float> * (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)()) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data, "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::data() --> struct mrpt::math::TPoint3D_<float> *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("ith"));
-		cl.def("mbDerived", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > & (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)()) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::mbDerived, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::mbDerived() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &", pybind11::return_value_policy::automatic);
-		cl.def("assign", (class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > & (mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &)) &mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=, "C++: mrpt::math::MatrixBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=(const class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &) --> class mrpt::math::MatrixBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("value"));
-		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(size_t, size_t, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("nrows"), pybind11::arg("ncols"), pybind11::arg("value"));
-		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(size_t, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("nrows"), pybind11::arg("value"));
-		cl.def_static("Constant", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant(const struct mrpt::math::TPoint3D_<float>) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("value"));
-		cl.def_static("Constant", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(size_t, size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant(size_t, size_t, const struct mrpt::math::TPoint3D_<float>) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("nrows"), pybind11::arg("ncols"), pybind11::arg("value"));
-		cl.def("assign", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const unsigned long, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::assign, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::assign(const unsigned long, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("N"), pybind11::arg("value"));
-		cl.def("coeffRef", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(int, int)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeffRef, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeffRef(int, int) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("r"), pybind11::arg("c"));
-		cl.def("coeff", (const struct mrpt::math::TPoint3D_<float> & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(int, int) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeff, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeff(int, int) const --> const struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("r"), pybind11::arg("c"));
-		cl.def("isSquare", (bool (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::isSquare, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::isSquare() const --> bool");
-		cl.def("empty", (bool (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::empty, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::empty() const --> bool");
-		cl.def("norm_inf", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm_inf, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm_inf() const --> struct mrpt::math::TPoint3D_<float>");
-		cl.def("norm", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm() const --> struct mrpt::math::TPoint3D_<float>");
-		cl.def("asString", (std::string (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::asString, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::asString() const --> std::string");
-		cl.def("assign", (class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=(const class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &) --> class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+		cl.def("__call__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator(), "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator()(size_t, size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__getitem__", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::*)(size_t)) &mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[], "C++: mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>::operator[](size_t) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::reference, pybind11::arg("ith"));
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,2UL,2UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,2UL,2UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_2UL_2UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,2UL,2UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,2UL,2UL> const &o){ return new mrpt::math::CMatrixFixed<double,2UL,2UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 2, 2>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,2UL,2UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 2, 2>::setSize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::swap, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::swap(class mrpt::math::CMatrixFixed<double, 2, 2> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 2>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 2, 2>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 2>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 2>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> void", pybind11::arg("A"));
+		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 2> & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> class mrpt::math::CMatrixFixed<double, 2, 2> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,3UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,3UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_3UL_3UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,3UL,3UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,3UL,3UL> const &o){ return new mrpt::math::CMatrixFixed<double,3UL,3UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 3, 3>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,3UL,3UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 3, 3>::setSize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::swap, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::swap(class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 3>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("A"));
+		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 3> & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixFixed<double, 3, 3> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixDynamic_2.cpp b/python/src/mrpt/math/CMatrixDynamic_2.cpp
new file mode 100644
index 0000000000..4865de6147
--- /dev/null
+++ b/python/src/mrpt/math/CMatrixDynamic_2.cpp
@@ -0,0 +1,168 @@
+#include <iterator>
+#include <memory>
+#include <mrpt/math/CMatrixD.h>
+#include <mrpt/math/CMatrixDynamic.h>
+#include <mrpt/math/CMatrixFixed.h>
+#include <mrpt/math/CVectorDynamic.h>
+#include <mrpt/math/MatrixVectorBase.h>
+#include <mrpt/math/math_frwds.h>
+#include <mrpt/math/matrix_size_t.h>
+#include <mrpt/rtti/CObject.h>
+#include <mrpt/serialization/CArchive.h>
+#include <mrpt/serialization/CMessage.h>
+#include <mrpt/serialization/CSerializable.h>
+#include <mrpt/typemeta/static_string.h>
+#include <sstream> // __str__
+#include <string>
+#include <variant>
+
+#include <functional>
+#include <pybind11/pybind11.h>
+#include <string>
+#include <pybind11/stl.h>
+
+
+#ifndef BINDER_PYBIND11_TYPE_CASTER
+	#define BINDER_PYBIND11_TYPE_CASTER
+	PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
+	PYBIND11_DECLARE_HOLDER_TYPE(T, T*)
+	PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
+#endif
+
+// mrpt::math::CMatrixD file:mrpt/math/CMatrixD.h line:23
+struct PyCallBack_mrpt_math_CMatrixD : public mrpt::math::CMatrixD {
+	using mrpt::math::CMatrixD::CMatrixD;
+
+	const struct mrpt::rtti::TRuntimeClassId * GetRuntimeClass() const override {
+		pybind11::gil_scoped_acquire gil;
+		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "GetRuntimeClass");
+		if (overload) {
+			auto o = overload.operator()<pybind11::return_value_policy::reference>();
+			if (pybind11::detail::cast_is_temporary_value_reference<const struct mrpt::rtti::TRuntimeClassId *>::value) {
+				static pybind11::detail::override_caster_t<const struct mrpt::rtti::TRuntimeClassId *> caster;
+				return pybind11::detail::cast_ref<const struct mrpt::rtti::TRuntimeClassId *>(std::move(o), caster);
+			}
+			else return pybind11::detail::cast_safe<const struct mrpt::rtti::TRuntimeClassId *>(std::move(o));
+		}
+		return CMatrixD::GetRuntimeClass();
+	}
+	class mrpt::rtti::CObject * clone() const override {
+		pybind11::gil_scoped_acquire gil;
+		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "clone");
+		if (overload) {
+			auto o = overload.operator()<pybind11::return_value_policy::reference>();
+			if (pybind11::detail::cast_is_temporary_value_reference<class mrpt::rtti::CObject *>::value) {
+				static pybind11::detail::override_caster_t<class mrpt::rtti::CObject *> caster;
+				return pybind11::detail::cast_ref<class mrpt::rtti::CObject *>(std::move(o), caster);
+			}
+			else return pybind11::detail::cast_safe<class mrpt::rtti::CObject *>(std::move(o));
+		}
+		return CMatrixD::clone();
+	}
+	uint8_t serializeGetVersion() const override {
+		pybind11::gil_scoped_acquire gil;
+		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "serializeGetVersion");
+		if (overload) {
+			auto o = overload.operator()<pybind11::return_value_policy::reference>();
+			if (pybind11::detail::cast_is_temporary_value_reference<uint8_t>::value) {
+				static pybind11::detail::override_caster_t<uint8_t> caster;
+				return pybind11::detail::cast_ref<uint8_t>(std::move(o), caster);
+			}
+			else return pybind11::detail::cast_safe<uint8_t>(std::move(o));
+		}
+		return CMatrixD::serializeGetVersion();
+	}
+	void serializeTo(class mrpt::serialization::CArchive & a0) const override {
+		pybind11::gil_scoped_acquire gil;
+		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "serializeTo");
+		if (overload) {
+			auto o = overload.operator()<pybind11::return_value_policy::reference>(a0);
+			if (pybind11::detail::cast_is_temporary_value_reference<void>::value) {
+				static pybind11::detail::override_caster_t<void> caster;
+				return pybind11::detail::cast_ref<void>(std::move(o), caster);
+			}
+			else return pybind11::detail::cast_safe<void>(std::move(o));
+		}
+		return CMatrixD::serializeTo(a0);
+	}
+	void serializeFrom(class mrpt::serialization::CArchive & a0, uint8_t a1) override {
+		pybind11::gil_scoped_acquire gil;
+		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "serializeFrom");
+		if (overload) {
+			auto o = overload.operator()<pybind11::return_value_policy::reference>(a0, a1);
+			if (pybind11::detail::cast_is_temporary_value_reference<void>::value) {
+				static pybind11::detail::override_caster_t<void> caster;
+				return pybind11::detail::cast_ref<void>(std::move(o), caster);
+			}
+			else return pybind11::detail::cast_safe<void>(std::move(o));
+		}
+		return CMatrixD::serializeFrom(a0, a1);
+	}
+};
+
+void bind_mrpt_math_CMatrixDynamic_2(std::function< pybind11::module &(std::string const &namespace_) > &M)
+{
+	{ // mrpt::math::CMatrixDynamic file:mrpt/math/CMatrixDynamic.h line:41
+		pybind11::class_<mrpt::math::CMatrixDynamic<double>, std::shared_ptr<mrpt::math::CMatrixDynamic<double>>> cl(M("mrpt::math"), "CMatrixDynamic_double_t", "");
+		cl.def( pybind11::init( [](mrpt::math::CMatrixDynamic<double> const &o){ return new mrpt::math::CMatrixDynamic<double>(o); } ) );
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixDynamic<double>(); } ), "doc" );
+		cl.def( pybind11::init( [](size_t const & a0){ return new mrpt::math::CMatrixDynamic<double>(a0); } ), "doc" , pybind11::arg("row"));
+		cl.def( pybind11::init<size_t, size_t>(), pybind11::arg("row"), pybind11::arg("col") );
+
+		cl.def( pybind11::init<const class mrpt::math::CMatrixDynamic<double> &, size_t, size_t>(), pybind11::arg("m"), pybind11::arg("cropRowCount"), pybind11::arg("cropColCount") );
+
+		cl.def("setFromMatrixLike", (void (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<float> &)) &mrpt::math::CMatrixDynamic<double>::setFromMatrixLike<mrpt::math::CMatrixDynamic<float>>, "C++: mrpt::math::CMatrixDynamic<double>::setFromMatrixLike(const class mrpt::math::CMatrixDynamic<float> &) --> void", pybind11::arg("m"));
+		cl.def("setFromMatrixLike", (void (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixDynamic<double>::setFromMatrixLike<mrpt::math::CMatrixFixed<double, 3, 3>>, "C++: mrpt::math::CMatrixDynamic<double>::setFromMatrixLike(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("m"));
+		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<double> &)) &mrpt::math::CMatrixDynamic<double>::operator=<double>, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixDynamic<double> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
+		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<float> &)) &mrpt::math::CMatrixDynamic<double>::operator=<float>, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixDynamic<float> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
+		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixDynamic<double>::operator=<3UL,3UL>, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
+		cl.def("swap", (void (mrpt::math::CMatrixDynamic<double>::*)(class mrpt::math::CMatrixDynamic<double> &)) &mrpt::math::CMatrixDynamic<double>::swap, "C++: mrpt::math::CMatrixDynamic<double>::swap(class mrpt::math::CMatrixDynamic<double> &) --> void", pybind11::arg("o"));
+		cl.def("assign", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CMatrixDynamic<double> &)) &mrpt::math::CMatrixDynamic<double>::operator=, "C++: mrpt::math::CMatrixDynamic<double>::operator=(const class mrpt::math::CMatrixDynamic<double> &) --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic, pybind11::arg("m"));
+		cl.def("rows", (int (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::rows, "C++: mrpt::math::CMatrixDynamic<double>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cols, "C++: mrpt::math::CMatrixDynamic<double>::cols() const --> int");
+		cl.def("setSize", [](mrpt::math::CMatrixDynamic<double> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixDynamic<double>::setSize, "C++: mrpt::math::CMatrixDynamic<double>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("resize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::resize, "C++: mrpt::math::CMatrixDynamic<double>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t)) &mrpt::math::CMatrixDynamic<double>::resize, "C++: mrpt::math::CMatrixDynamic<double>::resize(size_t) --> void", pybind11::arg("vectorLen"));
+		cl.def("derived", (class mrpt::math::CMatrixDynamic<double> & (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::derived, "C++: mrpt::math::CMatrixDynamic<double>::derived() --> class mrpt::math::CMatrixDynamic<double> &", pybind11::return_value_policy::automatic);
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::conservativeResize, "C++: mrpt::math::CMatrixDynamic<double>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("data", (double * (mrpt::math::CMatrixDynamic<double>::*)()) &mrpt::math::CMatrixDynamic<double>::data, "C++: mrpt::math::CMatrixDynamic<double>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixDynamic<double>::*)(size_t, size_t)) &mrpt::math::CMatrixDynamic<double>::operator(), "C++: mrpt::math::CMatrixDynamic<double>::operator()(size_t, size_t) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("cast_float", (class mrpt::math::CMatrixDynamic<float> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_float, "C++: mrpt::math::CMatrixDynamic<double>::cast_float() const --> class mrpt::math::CMatrixDynamic<float>");
+		cl.def("cast_double", (class mrpt::math::CMatrixDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)() const) &mrpt::math::CMatrixDynamic<double>::cast_double, "C++: mrpt::math::CMatrixDynamic<double>::cast_double() const --> class mrpt::math::CMatrixDynamic<double>");
+		cl.def("llt_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::llt_solve, "C++: mrpt::math::CMatrixDynamic<double>::llt_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
+		cl.def("lu_solve", (class mrpt::math::CVectorDynamic<double> (mrpt::math::CMatrixDynamic<double>::*)(const class mrpt::math::CVectorDynamic<double> &) const) &mrpt::math::CMatrixDynamic<double>::lu_solve, "C++: mrpt::math::CMatrixDynamic<double>::lu_solve(const class mrpt::math::CVectorDynamic<double> &) const --> class mrpt::math::CVectorDynamic<double>", pybind11::arg("b"));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixDynamic<dat_t>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", [](const size_t N) -> mat_t { return mat_t::Identity(N); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", [](const size_t nRows, const size_t nCols) -> mat_t { return mat_t::Zero(nRows,nCols); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
+	}
+	{ // mrpt::math::CMatrixD file:mrpt/math/CMatrixD.h line:23
+		pybind11::class_<mrpt::math::CMatrixD, std::shared_ptr<mrpt::math::CMatrixD>, PyCallBack_mrpt_math_CMatrixD, mrpt::serialization::CSerializable, mrpt::math::CMatrixDynamic<double>> cl(M("mrpt::math"), "CMatrixD", "This class is a \"CSerializable\" wrapper for\n \"CMatrixDynamic<double>\".\n \n\n For a complete introduction to Matrices and vectors in MRPT, see:\n https://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes\n \n\n\n ");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixD(); }, [](){ return new PyCallBack_mrpt_math_CMatrixD(); } ) );
+		cl.def( pybind11::init<size_t, size_t>(), pybind11::arg("row"), pybind11::arg("col") );
+
+		cl.def( pybind11::init<const class mrpt::math::CMatrixDynamic<double> &>(), pybind11::arg("m") );
+
+		cl.def( pybind11::init<const class mrpt::math::CMatrixDynamic<float> &>(), pybind11::arg("m") );
+
+		cl.def( pybind11::init( [](PyCallBack_mrpt_math_CMatrixD const &o){ return new PyCallBack_mrpt_math_CMatrixD(o); } ) );
+		cl.def( pybind11::init( [](mrpt::math::CMatrixD const &o){ return new mrpt::math::CMatrixD(o); } ) );
+		cl.def("assign", (class mrpt::math::CMatrixD & (mrpt::math::CMatrixD::*)(const class mrpt::math::CMatrixDynamic<float> &)) &mrpt::math::CMatrixD::operator=<mrpt::math::CMatrixDynamic<float>>, "C++: mrpt::math::CMatrixD::operator=(const class mrpt::math::CMatrixDynamic<float> &) --> class mrpt::math::CMatrixD &", pybind11::return_value_policy::automatic, pybind11::arg("other"));
+		cl.def("assign", (class mrpt::math::CMatrixD & (mrpt::math::CMatrixD::*)(const class mrpt::math::CMatrixD &)) &mrpt::math::CMatrixD::operator=<mrpt::math::CMatrixD>, "C++: mrpt::math::CMatrixD::operator=(const class mrpt::math::CMatrixD &) --> class mrpt::math::CMatrixD &", pybind11::return_value_policy::automatic, pybind11::arg("other"));
+		cl.def_static("GetRuntimeClassIdStatic", (const struct mrpt::rtti::TRuntimeClassId & (*)()) &mrpt::math::CMatrixD::GetRuntimeClassIdStatic, "C++: mrpt::math::CMatrixD::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &", pybind11::return_value_policy::automatic);
+		cl.def("GetRuntimeClass", (const struct mrpt::rtti::TRuntimeClassId * (mrpt::math::CMatrixD::*)() const) &mrpt::math::CMatrixD::GetRuntimeClass, "C++: mrpt::math::CMatrixD::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *", pybind11::return_value_policy::automatic);
+		cl.def("clone", (class mrpt::rtti::CObject * (mrpt::math::CMatrixD::*)() const) &mrpt::math::CMatrixD::clone, "C++: mrpt::math::CMatrixD::clone() const --> class mrpt::rtti::CObject *", pybind11::return_value_policy::automatic);
+		cl.def_static("CreateObject", (class std::shared_ptr<class mrpt::rtti::CObject> (*)()) &mrpt::math::CMatrixD::CreateObject, "C++: mrpt::math::CMatrixD::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>");
+		cl.def("assign", (class mrpt::math::CMatrixD & (mrpt::math::CMatrixD::*)(const class mrpt::math::CMatrixD &)) &mrpt::math::CMatrixD::operator=, "C++: mrpt::math::CMatrixD::operator=(const class mrpt::math::CMatrixD &) --> class mrpt::math::CMatrixD &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+	}
+}
diff --git a/python/src/mrpt/math/CMatrixFixed.cpp b/python/src/mrpt/math/CMatrixFixed.cpp
index 877ac0cb49..2168c4bf9e 100644
--- a/python/src/mrpt/math/CMatrixFixed.cpp
+++ b/python/src/mrpt/math/CMatrixFixed.cpp
@@ -18,71 +18,6 @@
 
 void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,2UL,2UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,2UL,2UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_2UL_2UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,2UL,2UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,2UL,2UL> const &o){ return new mrpt::math::CMatrixFixed<double,2UL,2UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 2, 2>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,2UL,2UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 2, 2>::setSize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::swap, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::swap(class mrpt::math::CMatrixFixed<double, 2, 2> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 2>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 2, 2>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 2>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 2>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 2>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> void", pybind11::arg("A"));
-		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 2> & (mrpt::math::CMatrixFixed<double,2UL,2UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 2> &)) &mrpt::math::CMatrixFixed<double, 2, 2>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 2>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 2> &) --> class mrpt::math::CMatrixFixed<double, 2, 2> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-	}
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,3UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,3UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_3UL_3UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,3UL,3UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,3UL,3UL> const &o){ return new mrpt::math::CMatrixFixed<double,3UL,3UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 3, 3>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,3UL,3UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 3, 3>::setSize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::swap, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::swap(class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 3>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> void", pybind11::arg("A"));
-		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 3> & (mrpt::math::CMatrixFixed<double,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 3> &)) &mrpt::math::CMatrixFixed<double, 3, 3>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 3>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 3> &) --> class mrpt::math::CMatrixFixed<double, 3, 3> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-
-		// Manually-added matrix methods:
-		using dat_t = double;
-		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
-		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
-		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
-		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
-		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
-		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
-		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
-		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
-	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<double,4UL,4UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,4UL,4UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_4UL_4UL_t", "");
 		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,4UL,4UL>(); } ) );
@@ -159,6 +94,69 @@ void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string c
 		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
 		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,7UL,7UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,7UL,7UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_7UL_7UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,7UL,7UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,7UL,7UL> const &o){ return new mrpt::math::CMatrixFixed<double,7UL,7UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 7, 7>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,7UL,7UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 7, 7>::setSize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::swap, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::swap(class mrpt::math::CMatrixFixed<double, 7, 7> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 7, 7>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 7, 7>::resize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 7, 7>::resize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 7>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> void", pybind11::arg("A"));
+		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 7, 7> & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator=, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator=(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> class mrpt::math::CMatrixFixed<double, 7, 7> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,3UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,3UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_3UL_1UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,3UL,1UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
 
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,3UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,3UL,1UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 3, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,3UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 3, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::swap(class mrpt::math::CMatrixFixed<double, 3, 1> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 3, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> void", pybind11::arg("A"));
+		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 1> & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> class mrpt::math::CMatrixFixed<double, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = double;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,1>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixFixed_1.cpp b/python/src/mrpt/math/CMatrixFixed_1.cpp
index 9e7db6b2bf..e182c663af 100644
--- a/python/src/mrpt/math/CMatrixFixed_1.cpp
+++ b/python/src/mrpt/math/CMatrixFixed_1.cpp
@@ -18,70 +18,6 @@
 
 void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,7UL,7UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,7UL,7UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_7UL_7UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,7UL,7UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,7UL,7UL> const &o){ return new mrpt::math::CMatrixFixed<double,7UL,7UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 7, 7>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,7UL,7UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 7, 7>::setSize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::swap, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::swap(class mrpt::math::CMatrixFixed<double, 7, 7> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 7, 7>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 7, 7>::resize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 7, 7>::resize, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::rows, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)() const) &mrpt::math::CMatrixFixed<double, 7, 7>::cols, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)()) &mrpt::math::CMatrixFixed<double, 7, 7>::data, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator(), "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator[], "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::sum_At(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> void", pybind11::arg("A"));
-		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 7, 7> & (mrpt::math::CMatrixFixed<double,7UL,7UL>::*)(const class mrpt::math::CMatrixFixed<double, 7, 7> &)) &mrpt::math::CMatrixFixed<double, 7, 7>::operator=, "C++: mrpt::math::CMatrixFixed<double, 7, 7>::operator=(const class mrpt::math::CMatrixFixed<double, 7, 7> &) --> class mrpt::math::CMatrixFixed<double, 7, 7> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-	}
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,3UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,3UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_3UL_1UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,3UL,1UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,3UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,3UL,1UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 3, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,3UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 3, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::swap(class mrpt::math::CMatrixFixed<double, 3, 1> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 3, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 3, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> void", pybind11::arg("A"));
-		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 3, 1> & (mrpt::math::CMatrixFixed<double,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 1> &)) &mrpt::math::CMatrixFixed<double, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 3, 1> &) --> class mrpt::math::CMatrixFixed<double, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-
-		// Manually-added matrix methods:
-		using dat_t = double;
-		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,1>;
-		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
-		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
-		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
-		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
-		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
-		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
-	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<double,3UL,4UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,3UL,4UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_3UL_4UL_t", "");
 		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,3UL,4UL>(); } ) );
@@ -132,4 +68,55 @@ void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string
 		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 3, 6>::operator[], "C++: mrpt::math::CMatrixFixed<double, 3, 6>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,3UL,6UL>::*)(const class mrpt::math::CMatrixFixed<double, 3, 6> &)) &mrpt::math::CMatrixFixed<double, 3, 6>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 3, 6>::sum_At(const class mrpt::math::CMatrixFixed<double, 3, 6> &) --> void", pybind11::arg("A"));
 	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,2UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,2UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_2UL_1UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,2UL,1UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,2UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,2UL,1UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 2, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,2UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 2, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::swap(class mrpt::math::CMatrixFixed<double, 2, 1> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 2, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> void", pybind11::arg("A"));
+		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 1> & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> class mrpt::math::CMatrixFixed<double, 2, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,6UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,6UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_6UL_1UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,6UL,1UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,6UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,6UL,1UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 6, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,6UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 6, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 6, 1> &)) &mrpt::math::CMatrixFixed<double, 6, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::swap(class mrpt::math::CMatrixFixed<double, 6, 1> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 6, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 6, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 6, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 1> &)) &mrpt::math::CMatrixFixed<double, 6, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 1> &) --> void", pybind11::arg("A"));
+	}
 }
diff --git a/python/src/mrpt/math/CMatrixFixed_2.cpp b/python/src/mrpt/math/CMatrixFixed_2.cpp
index 88d8935ca9..2f75fb4ea9 100644
--- a/python/src/mrpt/math/CMatrixFixed_2.cpp
+++ b/python/src/mrpt/math/CMatrixFixed_2.cpp
@@ -18,57 +18,6 @@
 
 void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,2UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,2UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_2UL_1UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,2UL,1UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,2UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,2UL,1UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 2, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,2UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 2, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::swap(class mrpt::math::CMatrixFixed<double, 2, 1> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 2, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 2, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 2, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 2, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> void", pybind11::arg("A"));
-		cl.def("assign", (class mrpt::math::CMatrixFixed<double, 2, 1> & (mrpt::math::CMatrixFixed<double,2UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 2, 1> &)) &mrpt::math::CMatrixFixed<double, 2, 1>::operator=, "C++: mrpt::math::CMatrixFixed<double, 2, 1>::operator=(const class mrpt::math::CMatrixFixed<double, 2, 1> &) --> class mrpt::math::CMatrixFixed<double, 2, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-	}
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,6UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,6UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_6UL_1UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,6UL,1UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,6UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,6UL,1UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 6, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,6UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 6, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 6, 1> &)) &mrpt::math::CMatrixFixed<double, 6, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::swap(class mrpt::math::CMatrixFixed<double, 6, 1> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 6, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 6, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 6, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 6, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 6, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 6, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 6, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,6UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 6, 1> &)) &mrpt::math::CMatrixFixed<double, 6, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 6, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 6, 1> &) --> void", pybind11::arg("A"));
-	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<double,7UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,7UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_7UL_1UL_t", "");
 		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,7UL,1UL>(); } ) );
@@ -132,4 +81,66 @@ void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string
 		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,4UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,4UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_4UL_3UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,4UL,3UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,4UL,3UL> const &o){ return new mrpt::math::CMatrixFixed<double,4UL,3UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 4, 3>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,4UL,3UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 4, 3>::setSize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(class mrpt::math::CMatrixFixed<double, 4, 3> &)) &mrpt::math::CMatrixFixed<double, 4, 3>::swap, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::swap(class mrpt::math::CMatrixFixed<double, 4, 3> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 4, 3>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 4, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 4, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 3> &)) &mrpt::math::CMatrixFixed<double, 4, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 3> &) --> void", pybind11::arg("A"));
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<float,3UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,3UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_3UL_3UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<float,3UL,3UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const float *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(const float *)) &mrpt::math::CMatrixFixed<float, 3, 3>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::loadFromRawPointer(const float *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<float,3UL,3UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<float, 3, 3>::setSize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(class mrpt::math::CMatrixFixed<float, 3, 3> &)) &mrpt::math::CMatrixFixed<float, 3, 3>::swap, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::swap(class mrpt::math::CMatrixFixed<float, 3, 3> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 3, 3>::conservativeResize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t)) &mrpt::math::CMatrixFixed<float, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cols() const --> int");
+		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::data() --> float *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 3> &)) &mrpt::math::CMatrixFixed<float, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 3> &) --> void", pybind11::arg("A"));
+
+		// Manually-added matrix methods:
+		using dat_t = float;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
+	}
 }
diff --git a/python/src/mrpt/math/CMatrixFixed_3.cpp b/python/src/mrpt/math/CMatrixFixed_3.cpp
index 916e0bad4a..0192960f39 100644
--- a/python/src/mrpt/math/CMatrixFixed_3.cpp
+++ b/python/src/mrpt/math/CMatrixFixed_3.cpp
@@ -18,68 +18,6 @@
 
 void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,4UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,4UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_4UL_3UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,4UL,3UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,4UL,3UL> const &o){ return new mrpt::math::CMatrixFixed<double,4UL,3UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 4, 3>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,4UL,3UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 4, 3>::setSize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(class mrpt::math::CMatrixFixed<double, 4, 3> &)) &mrpt::math::CMatrixFixed<double, 4, 3>::swap, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::swap(class mrpt::math::CMatrixFixed<double, 4, 3> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 4, 3>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 4, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 4, 3>::resize, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::rows, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<double, 4, 3>::cols, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)()) &mrpt::math::CMatrixFixed<double, 4, 3>::data, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator(), "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 4, 3>::operator[], "C++: mrpt::math::CMatrixFixed<double, 4, 3>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,4UL,3UL>::*)(const class mrpt::math::CMatrixFixed<double, 4, 3> &)) &mrpt::math::CMatrixFixed<double, 4, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 4, 3>::sum_At(const class mrpt::math::CMatrixFixed<double, 4, 3> &) --> void", pybind11::arg("A"));
-	}
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<float,3UL,3UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,3UL,3UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_3UL_3UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<float,3UL,3UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const float *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(const float *)) &mrpt::math::CMatrixFixed<float, 3, 3>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::loadFromRawPointer(const float *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<float,3UL,3UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<float, 3, 3>::setSize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(class mrpt::math::CMatrixFixed<float, 3, 3> &)) &mrpt::math::CMatrixFixed<float, 3, 3>::swap, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::swap(class mrpt::math::CMatrixFixed<float, 3, 3> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 3, 3>::conservativeResize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t)) &mrpt::math::CMatrixFixed<float, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 3, 3>::resize, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::rows, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cols, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cols() const --> int");
-		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 3>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::data() --> float *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 3>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 3>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 3> (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 3>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 3>");
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,3UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 3> &)) &mrpt::math::CMatrixFixed<float, 3, 3>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 3>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 3> &) --> void", pybind11::arg("A"));
-
-		// Manually-added matrix methods:
-		using dat_t = float;
-		using mat_t = mrpt::math::CMatrixFixed<dat_t,3,3>;
-		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
-		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
-		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
-		cl.def_static("Identity", []() -> mat_t { return mat_t::Identity(); }, "Returns the NxN identity matrix");
-		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
-		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
-		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
-	}
 	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
 		pybind11::class_<mrpt::math::CMatrixFixed<float,4UL,4UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,4UL,4UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_4UL_4UL_t", "");
 		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<float,4UL,4UL>(); } ) );
@@ -141,7 +79,6 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
 		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 3, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::data() --> float *", pybind11::return_value_policy::automatic);
 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
 		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("__getitem__", (float & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator[], "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator[](int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
 		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 3, 1> (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 3, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 3, 1>");
 		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> void", pybind11::arg("A"));
 		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 3, 1> & (mrpt::math::CMatrixFixed<float,3UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 3, 1> &)) &mrpt::math::CMatrixFixed<float, 3, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 3, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 3, 1> &) --> class mrpt::math::CMatrixFixed<float, 3, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
@@ -157,6 +94,68 @@ void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string
 		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
 		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
 		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<double,12UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,12UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_12UL_1UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,12UL,1UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
+
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,12UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,12UL,1UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 12, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,12UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 12, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 12, 1> &)) &mrpt::math::CMatrixFixed<double, 12, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::swap(class mrpt::math::CMatrixFixed<double, 12, 1> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 12, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 12, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 12, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::cols() const --> int");
+		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 12, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::data() --> double *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 12, 1> &)) &mrpt::math::CMatrixFixed<double, 12, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 12, 1> &) --> void", pybind11::arg("A"));
+	}
+	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
+		pybind11::class_<mrpt::math::CMatrixFixed<float,4UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,4UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_4UL_1UL_t", "");
+		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<float,4UL,1UL>(); } ) );
+		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
+
+		cl.def( pybind11::init<const float *>(), pybind11::arg("data") );
 
+		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
+
+		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<float,4UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<float,4UL,1UL>(o); } ) );
+		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const float *)) &mrpt::math::CMatrixFixed<float, 4, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::loadFromRawPointer(const float *) --> void", pybind11::arg("data"));
+		cl.def("setSize", [](mrpt::math::CMatrixFixed<float,4UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("setSize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<float, 4, 1>::setSize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
+		cl.def("swap", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::swap, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::swap(class mrpt::math::CMatrixFixed<float, 4, 1> &) --> void", pybind11::arg("o"));
+		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 4, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<float, 4, 1>::resize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::resize(size_t) --> void", pybind11::arg("n"));
+		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 4, 1>::resize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::rows() const --> int");
+		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cols() const --> int");
+		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::data() --> float *", pybind11::return_value_policy::automatic);
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
+		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
+		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
+		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> void", pybind11::arg("A"));
+		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 1> & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> class mrpt::math::CMatrixFixed<float, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+		// Manually-added matrix methods:
+		using dat_t = float;
+		using mat_t = mrpt::math::CMatrixFixed<dat_t,4,1>;
+		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
+		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
+		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
+		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
+		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
+		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
+		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
 	}
 }
diff --git a/python/src/mrpt/math/CMatrixFixed_4.cpp b/python/src/mrpt/math/CMatrixFixed_4.cpp
deleted file mode 100644
index 737200d31a..0000000000
--- a/python/src/mrpt/math/CMatrixFixed_4.cpp
+++ /dev/null
@@ -1,196 +0,0 @@
-#include <iterator>
-#include <memory>
-#include <mrpt/math/CMatrixD.h>
-#include <mrpt/math/CMatrixDynamic.h>
-#include <mrpt/math/CMatrixFixed.h>
-#include <mrpt/math/CVectorDynamic.h>
-#include <mrpt/math/MatrixVectorBase.h>
-#include <mrpt/math/math_frwds.h>
-#include <mrpt/math/matrix_size_t.h>
-#include <mrpt/rtti/CObject.h>
-#include <mrpt/serialization/CArchive.h>
-#include <mrpt/serialization/CMessage.h>
-#include <mrpt/serialization/CSerializable.h>
-#include <mrpt/typemeta/static_string.h>
-#include <sstream> // __str__
-#include <string>
-#include <variant>
-
-#include <functional>
-#include <pybind11/pybind11.h>
-#include <string>
-#include <pybind11/stl.h>
-
-
-#ifndef BINDER_PYBIND11_TYPE_CASTER
-	#define BINDER_PYBIND11_TYPE_CASTER
-	PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
-	PYBIND11_DECLARE_HOLDER_TYPE(T, T*)
-	PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
-#endif
-
-// mrpt::math::CMatrixD file:mrpt/math/CMatrixD.h line:23
-struct PyCallBack_mrpt_math_CMatrixD : public mrpt::math::CMatrixD {
-	using mrpt::math::CMatrixD::CMatrixD;
-
-	const struct mrpt::rtti::TRuntimeClassId * GetRuntimeClass() const override {
-		pybind11::gil_scoped_acquire gil;
-		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "GetRuntimeClass");
-		if (overload) {
-			auto o = overload.operator()<pybind11::return_value_policy::reference>();
-			if (pybind11::detail::cast_is_temporary_value_reference<const struct mrpt::rtti::TRuntimeClassId *>::value) {
-				static pybind11::detail::override_caster_t<const struct mrpt::rtti::TRuntimeClassId *> caster;
-				return pybind11::detail::cast_ref<const struct mrpt::rtti::TRuntimeClassId *>(std::move(o), caster);
-			}
-			else return pybind11::detail::cast_safe<const struct mrpt::rtti::TRuntimeClassId *>(std::move(o));
-		}
-		return CMatrixD::GetRuntimeClass();
-	}
-	class mrpt::rtti::CObject * clone() const override {
-		pybind11::gil_scoped_acquire gil;
-		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "clone");
-		if (overload) {
-			auto o = overload.operator()<pybind11::return_value_policy::reference>();
-			if (pybind11::detail::cast_is_temporary_value_reference<class mrpt::rtti::CObject *>::value) {
-				static pybind11::detail::override_caster_t<class mrpt::rtti::CObject *> caster;
-				return pybind11::detail::cast_ref<class mrpt::rtti::CObject *>(std::move(o), caster);
-			}
-			else return pybind11::detail::cast_safe<class mrpt::rtti::CObject *>(std::move(o));
-		}
-		return CMatrixD::clone();
-	}
-	uint8_t serializeGetVersion() const override {
-		pybind11::gil_scoped_acquire gil;
-		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "serializeGetVersion");
-		if (overload) {
-			auto o = overload.operator()<pybind11::return_value_policy::reference>();
-			if (pybind11::detail::cast_is_temporary_value_reference<uint8_t>::value) {
-				static pybind11::detail::override_caster_t<uint8_t> caster;
-				return pybind11::detail::cast_ref<uint8_t>(std::move(o), caster);
-			}
-			else return pybind11::detail::cast_safe<uint8_t>(std::move(o));
-		}
-		return CMatrixD::serializeGetVersion();
-	}
-	void serializeTo(class mrpt::serialization::CArchive & a0) const override {
-		pybind11::gil_scoped_acquire gil;
-		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "serializeTo");
-		if (overload) {
-			auto o = overload.operator()<pybind11::return_value_policy::reference>(a0);
-			if (pybind11::detail::cast_is_temporary_value_reference<void>::value) {
-				static pybind11::detail::override_caster_t<void> caster;
-				return pybind11::detail::cast_ref<void>(std::move(o), caster);
-			}
-			else return pybind11::detail::cast_safe<void>(std::move(o));
-		}
-		return CMatrixD::serializeTo(a0);
-	}
-	void serializeFrom(class mrpt::serialization::CArchive & a0, uint8_t a1) override {
-		pybind11::gil_scoped_acquire gil;
-		pybind11::function overload = pybind11::get_overload(static_cast<const mrpt::math::CMatrixD *>(this), "serializeFrom");
-		if (overload) {
-			auto o = overload.operator()<pybind11::return_value_policy::reference>(a0, a1);
-			if (pybind11::detail::cast_is_temporary_value_reference<void>::value) {
-				static pybind11::detail::override_caster_t<void> caster;
-				return pybind11::detail::cast_ref<void>(std::move(o), caster);
-			}
-			else return pybind11::detail::cast_safe<void>(std::move(o));
-		}
-		return CMatrixD::serializeFrom(a0, a1);
-	}
-};
-
-void bind_mrpt_math_CMatrixFixed_4(std::function< pybind11::module &(std::string const &namespace_) > &M)
-{
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<double,12UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<double,12UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_double_12UL_1UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<double,12UL,1UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const double *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<double,12UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<double,12UL,1UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(const double *)) &mrpt::math::CMatrixFixed<double, 12, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::loadFromRawPointer(const double *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<double,12UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<double, 12, 1>::setSize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(class mrpt::math::CMatrixFixed<double, 12, 1> &)) &mrpt::math::CMatrixFixed<double, 12, 1>::swap, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::swap(class mrpt::math::CMatrixFixed<double, 12, 1> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 12, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<double, 12, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<double, 12, 1>::resize, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::rows, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<double, 12, 1>::cols, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::cols() const --> int");
-		cl.def("data", (double * (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)()) &mrpt::math::CMatrixFixed<double, 12, 1>::data, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::data() --> double *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int, int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator(), "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator()(int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("__getitem__", (double & (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<double, 12, 1>::operator[], "C++: mrpt::math::CMatrixFixed<double, 12, 1>::operator[](int) --> double &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<double,12UL,1UL>::*)(const class mrpt::math::CMatrixFixed<double, 12, 1> &)) &mrpt::math::CMatrixFixed<double, 12, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<double, 12, 1>::sum_At(const class mrpt::math::CMatrixFixed<double, 12, 1> &) --> void", pybind11::arg("A"));
-	}
-	{ // mrpt::math::CMatrixFixed file:mrpt/math/CMatrixFixed.h line:34
-		pybind11::class_<mrpt::math::CMatrixFixed<float,4UL,1UL>, std::shared_ptr<mrpt::math::CMatrixFixed<float,4UL,1UL>>> cl(M("mrpt::math"), "CMatrixFixed_float_4UL_1UL_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixFixed<float,4UL,1UL>(); } ) );
-		cl.def( pybind11::init<enum mrpt::math::TConstructorFlags_Matrices>(), pybind11::arg("") );
-
-		cl.def( pybind11::init<const float *>(), pybind11::arg("data") );
-
-		cl.def( pybind11::init<const int, const int>(), pybind11::arg("rows"), pybind11::arg("cols") );
-
-		cl.def( pybind11::init( [](mrpt::math::CMatrixFixed<float,4UL,1UL> const &o){ return new mrpt::math::CMatrixFixed<float,4UL,1UL>(o); } ) );
-		cl.def("loadFromRawPointer", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const float *)) &mrpt::math::CMatrixFixed<float, 4, 1>::loadFromRawPointer, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::loadFromRawPointer(const float *) --> void", pybind11::arg("data"));
-		cl.def("setSize", [](mrpt::math::CMatrixFixed<float,4UL,1UL> &o, size_t const & a0, size_t const & a1) -> void { return o.setSize(a0, a1); }, "", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("setSize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t, size_t, bool)) &mrpt::math::CMatrixFixed<float, 4, 1>::setSize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::setSize(size_t, size_t, bool) --> void", pybind11::arg("row"), pybind11::arg("col"), pybind11::arg("zeroNewElements"));
-		cl.def("swap", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::swap, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::swap(class mrpt::math::CMatrixFixed<float, 4, 1> &) --> void", pybind11::arg("o"));
-		cl.def("conservativeResize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 4, 1>::conservativeResize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::conservativeResize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t)) &mrpt::math::CMatrixFixed<float, 4, 1>::resize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::resize(size_t) --> void", pybind11::arg("n"));
-		cl.def("resize", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(size_t, size_t)) &mrpt::math::CMatrixFixed<float, 4, 1>::resize, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::resize(size_t, size_t) --> void", pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("rows", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::rows, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::rows() const --> int");
-		cl.def("cols", (int (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cols, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cols() const --> int");
-		cl.def("data", (float * (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)()) &mrpt::math::CMatrixFixed<float, 4, 1>::data, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::data() --> float *", pybind11::return_value_policy::automatic);
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int, int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int, int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("row"), pybind11::arg("col"));
-		cl.def("__call__", (float & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(int)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator(), "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator()(int) --> float &", pybind11::return_value_policy::reference, pybind11::arg("i"));
-		cl.def("cast_float", (class mrpt::math::CMatrixFixed<float, 4, 1> (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)() const) &mrpt::math::CMatrixFixed<float, 4, 1>::cast_float, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::cast_float() const --> class mrpt::math::CMatrixFixed<float, 4, 1>");
-		cl.def("sum_At", (void (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::sum_At, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::sum_At(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> void", pybind11::arg("A"));
-		cl.def("assign", (class mrpt::math::CMatrixFixed<float, 4, 1> & (mrpt::math::CMatrixFixed<float,4UL,1UL>::*)(const class mrpt::math::CMatrixFixed<float, 4, 1> &)) &mrpt::math::CMatrixFixed<float, 4, 1>::operator=, "C++: mrpt::math::CMatrixFixed<float, 4, 1>::operator=(const class mrpt::math::CMatrixFixed<float, 4, 1> &) --> class mrpt::math::CMatrixFixed<float, 4, 1> &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-
-		// Manually-added matrix methods:
-		using dat_t = float;
-		using mat_t = mrpt::math::CMatrixFixed<dat_t,4,1>;
-		cl.def("__getitem__", [](const mat_t&self, pybind11::tuple coord) -> dat_t { if (coord.size()==2) return self.coeff(coord[0].cast<size_t>(), coord[1].cast<size_t>()); else if (coord.size()==1) return self[coord[0].cast<size_t>()]; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__setitem__", [](mat_t&self, pybind11::tuple coord, dat_t val) { if (coord.size()==2) self.coeffRef(coord[0].cast<size_t>(), coord[1].cast<size_t>())=val; else if (coord.size()==1) self[coord[0].cast<size_t>()]=val; else throw std::invalid_argument("Access with [idx] or [row,col]"); });
-		cl.def("__str__", [](const mat_t& o) -> std::string { return o.asString(); } );
-		cl.def("inMatlabFormat", [](const mat_t& o) -> std::string { return o.inMatlabFormat(); } );
-		cl.def("size", [](const mat_t&self) -> pybind11::tuple { return pybind11::make_tuple(self.cols(),self.rows()); });
-		cl.def_static("Zero", []() -> mat_t { return mat_t::Zero(); }, "Returns a matrix with zeroes");
-		cl.def(pybind11::init( [](pybind11::list vals){ auto m = new mat_t(); const auto nR = vals.size(); if (!nR) return m; const auto nC = vals[0].cast<pybind11::list>().size(); m->setSize(nR,nC); for (size_t r=0;r<nR;r++) { const auto row = vals[r].cast<pybind11::list>(); for (size_t c=0;c<nC;c++) m->coeffRef(r,c) = row[c].cast<dat_t>(); } return m; }));
-		cl.def("to_list", [](const mat_t&self) -> pybind11::list { auto l = pybind11::list(); const auto nR = self.rows(), nC = self.cols(); for (size_t r=0;r<nR;r++) { auto row = pybind11::list(); l.append(row); for (size_t c=0;c<nC;c++) row.append(self.coeff(r,c)); } return l; });
-	}
-	// mrpt::math::TMatrixTextFileFormat file:mrpt/math/MatrixVectorBase.h line:35
-	pybind11::enum_<mrpt::math::TMatrixTextFileFormat>(M("mrpt::math"), "TMatrixTextFileFormat", pybind11::arithmetic(), "Selection of the number format in MatrixVectorBase::saveToTextFile()\n \n")
-		.value("MATRIX_FORMAT_ENG", mrpt::math::MATRIX_FORMAT_ENG)
-		.value("MATRIX_FORMAT_FIXED", mrpt::math::MATRIX_FORMAT_FIXED)
-		.value("MATRIX_FORMAT_INT", mrpt::math::MATRIX_FORMAT_INT)
-		.export_values();
-
-;
-
-	{ // mrpt::math::CMatrixD file:mrpt/math/CMatrixD.h line:23
-		pybind11::class_<mrpt::math::CMatrixD, std::shared_ptr<mrpt::math::CMatrixD>, PyCallBack_mrpt_math_CMatrixD, mrpt::serialization::CSerializable, mrpt::math::CMatrixDynamic<double>> cl(M("mrpt::math"), "CMatrixD", "This class is a \"CSerializable\" wrapper for\n \"CMatrixDynamic<double>\".\n \n\n For a complete introduction to Matrices and vectors in MRPT, see:\n https://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes\n \n\n\n ");
-		cl.def( pybind11::init( [](){ return new mrpt::math::CMatrixD(); }, [](){ return new PyCallBack_mrpt_math_CMatrixD(); } ) );
-		cl.def( pybind11::init<size_t, size_t>(), pybind11::arg("row"), pybind11::arg("col") );
-
-		cl.def( pybind11::init<const class mrpt::math::CMatrixDynamic<double> &>(), pybind11::arg("m") );
-
-		cl.def( pybind11::init<const class mrpt::math::CMatrixDynamic<float> &>(), pybind11::arg("m") );
-
-		cl.def( pybind11::init( [](PyCallBack_mrpt_math_CMatrixD const &o){ return new PyCallBack_mrpt_math_CMatrixD(o); } ) );
-		cl.def( pybind11::init( [](mrpt::math::CMatrixD const &o){ return new mrpt::math::CMatrixD(o); } ) );
-		cl.def("assign", (class mrpt::math::CMatrixD & (mrpt::math::CMatrixD::*)(const class mrpt::math::CMatrixDynamic<float> &)) &mrpt::math::CMatrixD::operator=<mrpt::math::CMatrixDynamic<float>>, "C++: mrpt::math::CMatrixD::operator=(const class mrpt::math::CMatrixDynamic<float> &) --> class mrpt::math::CMatrixD &", pybind11::return_value_policy::automatic, pybind11::arg("other"));
-		cl.def("assign", (class mrpt::math::CMatrixD & (mrpt::math::CMatrixD::*)(const class mrpt::math::CMatrixD &)) &mrpt::math::CMatrixD::operator=<mrpt::math::CMatrixD>, "C++: mrpt::math::CMatrixD::operator=(const class mrpt::math::CMatrixD &) --> class mrpt::math::CMatrixD &", pybind11::return_value_policy::automatic, pybind11::arg("other"));
-		cl.def_static("GetRuntimeClassIdStatic", (const struct mrpt::rtti::TRuntimeClassId & (*)()) &mrpt::math::CMatrixD::GetRuntimeClassIdStatic, "C++: mrpt::math::CMatrixD::GetRuntimeClassIdStatic() --> const struct mrpt::rtti::TRuntimeClassId &", pybind11::return_value_policy::automatic);
-		cl.def("GetRuntimeClass", (const struct mrpt::rtti::TRuntimeClassId * (mrpt::math::CMatrixD::*)() const) &mrpt::math::CMatrixD::GetRuntimeClass, "C++: mrpt::math::CMatrixD::GetRuntimeClass() const --> const struct mrpt::rtti::TRuntimeClassId *", pybind11::return_value_policy::automatic);
-		cl.def("clone", (class mrpt::rtti::CObject * (mrpt::math::CMatrixD::*)() const) &mrpt::math::CMatrixD::clone, "C++: mrpt::math::CMatrixD::clone() const --> class mrpt::rtti::CObject *", pybind11::return_value_policy::automatic);
-		cl.def_static("CreateObject", (class std::shared_ptr<class mrpt::rtti::CObject> (*)()) &mrpt::math::CMatrixD::CreateObject, "C++: mrpt::math::CMatrixD::CreateObject() --> class std::shared_ptr<class mrpt::rtti::CObject>");
-		cl.def("assign", (class mrpt::math::CMatrixD & (mrpt::math::CMatrixD::*)(const class mrpt::math::CMatrixD &)) &mrpt::math::CMatrixD::operator=, "C++: mrpt::math::CMatrixD::operator=(const class mrpt::math::CMatrixD &) --> class mrpt::math::CMatrixD &", pybind11::return_value_policy::automatic, pybind11::arg(""));
-	}
-}
diff --git a/python/src/mrpt/math/MatrixVectorBase.cpp b/python/src/mrpt/math/MatrixVectorBase.cpp
index 1770d8289c..c70a428674 100644
--- a/python/src/mrpt/math/MatrixVectorBase.cpp
+++ b/python/src/mrpt/math/MatrixVectorBase.cpp
@@ -1,21 +1,4 @@
-#include <ios>
-#include <istream>
-#include <iterator>
-#include <locale>
-#include <memory>
-#include <mrpt/math/CMatrixDynamic.h>
-#include <mrpt/math/CMatrixFixed.h>
 #include <mrpt/math/MatrixVectorBase.h>
-#include <mrpt/math/TPoint2D.h>
-#include <mrpt/math/TPoint3D.h>
-#include <mrpt/math/TPose2D.h>
-#include <mrpt/math/TPose3D.h>
-#include <mrpt/math/matrix_size_t.h>
-#include <optional>
-#include <ostream>
-#include <sstream> // __str__
-#include <streambuf>
-#include <string>
 
 #include <functional>
 #include <pybind11/pybind11.h>
@@ -32,46 +15,13 @@
 
 void bind_mrpt_math_MatrixVectorBase(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::math::MatrixVectorBase file:mrpt/math/MatrixVectorBase.h line:57
-		pybind11::class_<mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>, std::shared_ptr<mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>>> cl(M("mrpt::math"), "MatrixVectorBase_mrpt_math_TPoint3D_float_mrpt_math_CMatrixDynamic_mrpt_math_TPoint3D_float_t", "");
-		cl.def( pybind11::init( [](){ return new mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>(); } ) );
-		cl.def( pybind11::init( [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o){ return new mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>(o); } ) );
-		cl.def("fill", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const struct mrpt::math::TPoint3D_<float> &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::fill, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::fill(const struct mrpt::math::TPoint3D_<float> &) --> void", pybind11::arg("val"));
-		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("value"));
-		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(size_t, size_t, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("nrows"), pybind11::arg("ncols"), pybind11::arg("value"));
-		cl.def("setConstant", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setConstant(size_t, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("nrows"), pybind11::arg("value"));
-		cl.def_static("Constant", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant(const struct mrpt::math::TPoint3D_<float>) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("value"));
-		cl.def_static("Constant", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(size_t, size_t, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Constant(size_t, size_t, const struct mrpt::math::TPoint3D_<float>) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("nrows"), pybind11::arg("ncols"), pybind11::arg("value"));
-		cl.def("assign", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const unsigned long, const struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::assign, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::assign(const unsigned long, const struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("N"), pybind11::arg("value"));
-		cl.def("setZero", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)()) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero() --> void");
-		cl.def("setZero", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t, size_t)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero(size_t, size_t) --> void", pybind11::arg("nrows"), pybind11::arg("ncols"));
-		cl.def("setZero", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(size_t)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::setZero(size_t) --> void", pybind11::arg("nrows"));
-		cl.def_static("Zero", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)()) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero() --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >");
-		cl.def_static("Zero", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (*)(size_t, size_t)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::Zero(size_t, size_t) --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("nrows"), pybind11::arg("ncols"));
-		cl.def("coeffRef", (struct mrpt::math::TPoint3D_<float> & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(int, int)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeffRef, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeffRef(int, int) --> struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("r"), pybind11::arg("c"));
-		cl.def("coeff", (const struct mrpt::math::TPoint3D_<float> & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(int, int) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeff, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::coeff(int, int) const --> const struct mrpt::math::TPoint3D_<float> &", pybind11::return_value_policy::automatic, pybind11::arg("r"), pybind11::arg("c"));
-		cl.def("isSquare", (bool (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::isSquare, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::isSquare() const --> bool");
-		cl.def("empty", (bool (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::empty, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::empty() const --> bool");
-		cl.def("norm_inf", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm_inf, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm_inf() const --> struct mrpt::math::TPoint3D_<float>");
-		cl.def("norm", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::norm() const --> struct mrpt::math::TPoint3D_<float>");
-		cl.def("__iadd__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=(struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("s"));
-		cl.def("__isub__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=(struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("s"));
-		cl.def("__imul__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(struct mrpt::math::TPoint3D_<float>)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator*=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator*=(struct mrpt::math::TPoint3D_<float>) --> void", pybind11::arg("s"));
-		cl.def("__add__", (class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) const --> class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> >", pybind11::arg("m2"));
-		cl.def("__iadd__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator+=(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) --> void", pybind11::arg("m2"));
-		cl.def("__isub__", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator-=(const class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > &) --> void", pybind11::arg("m2"));
-		cl.def("sum", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum() const --> struct mrpt::math::TPoint3D_<float>");
-		cl.def("sum_abs", (struct mrpt::math::TPoint3D_<float> (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum_abs, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::sum_abs() const --> struct mrpt::math::TPoint3D_<float>");
-		cl.def("asString", (std::string (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)() const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::asString, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::asString() const --> std::string");
-		cl.def("inMatlabFormat", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o) -> std::string { return o.inMatlabFormat(); }, "");
-		cl.def("inMatlabFormat", (std::string (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const unsigned long) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inMatlabFormat, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::inMatlabFormat(const unsigned long) const --> std::string", pybind11::arg("decimal_digits"));
-		cl.def("saveToTextFile", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o, const std::string & a0) -> void { return o.saveToTextFile(a0); }, "", pybind11::arg("file"));
-		cl.def("saveToTextFile", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o, const std::string & a0, enum mrpt::math::TMatrixTextFileFormat const & a1) -> void { return o.saveToTextFile(a0, a1); }, "", pybind11::arg("file"), pybind11::arg("fileFormat"));
-		cl.def("saveToTextFile", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o, const std::string & a0, enum mrpt::math::TMatrixTextFileFormat const & a1, bool const & a2) -> void { return o.saveToTextFile(a0, a1, a2); }, "", pybind11::arg("file"), pybind11::arg("fileFormat"), pybind11::arg("appendMRPTHeader"));
-		cl.def("saveToTextFile", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const std::string &, enum mrpt::math::TMatrixTextFileFormat, bool, const std::string &) const) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::saveToTextFile, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::saveToTextFile(const std::string &, enum mrpt::math::TMatrixTextFileFormat, bool, const std::string &) const --> void", pybind11::arg("file"), pybind11::arg("fileFormat"), pybind11::arg("appendMRPTHeader"), pybind11::arg("userHeader"));
-		cl.def("loadFromTextFile", (void (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const std::string &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::loadFromTextFile, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::loadFromTextFile(const std::string &) --> void", pybind11::arg("file"));
-		cl.def("assign", (class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > & (mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >>::*)(const class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &)) &mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=, "C++: mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>, mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float>>>::operator=(const class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &) --> class mrpt::math::MatrixVectorBase<struct mrpt::math::TPoint3D_<float>, class mrpt::math::CMatrixDynamic<struct mrpt::math::TPoint3D_<float> > > &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+	// mrpt::math::TMatrixTextFileFormat file:mrpt/math/MatrixVectorBase.h line:35
+	pybind11::enum_<mrpt::math::TMatrixTextFileFormat>(M("mrpt::math"), "TMatrixTextFileFormat", pybind11::arithmetic(), "Selection of the number format in MatrixVectorBase::saveToTextFile()\n \n")
+		.value("MATRIX_FORMAT_ENG", mrpt::math::MATRIX_FORMAT_ENG)
+		.value("MATRIX_FORMAT_FIXED", mrpt::math::MATRIX_FORMAT_FIXED)
+		.value("MATRIX_FORMAT_INT", mrpt::math::MATRIX_FORMAT_INT)
+		.export_values();
+
+;
 
-		cl.def("__str__", [](mrpt::math::MatrixVectorBase<mrpt::math::TPoint3D_<float>,mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_<float> >> const &o) -> std::string { std::ostringstream s; using namespace mrpt::math; s << o; return s.str(); } );
-	}
 }
diff --git a/python/src/pymrpt.cpp b/python/src/pymrpt.cpp
index 8b8a5758a3..9bc222edb2 100644
--- a/python/src/pymrpt.cpp
+++ b/python/src/pymrpt.cpp
@@ -177,8 +177,12 @@ void bind_mrpt_obs_CObservationStereoImages(std::function< pybind11::module &(st
 void bind_mrpt_vision_CStereoRectifyMap(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_hwdrivers_CDUO3DCamera(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_math_CMatrixDynamic(std::function< pybind11::module &(std::string const &namespace_) > &M);
+void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::string const &namespace_) > &M);
+void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string const &namespace_) > &M);
+void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string const &namespace_) > &M);
+void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string const &namespace_) > &M);
+void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_math_MatrixVectorBase(std::function< pybind11::module &(std::string const &namespace_) > &M);
-void bind_mrpt_math_MatrixBase(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_math_math_frwds(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_bayes_CProbabilityParticle_1(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_math_CMatrixF(std::function< pybind11::module &(std::string const &namespace_) > &M);
@@ -230,12 +234,7 @@ void bind_mrpt_kinematics_CKinematicChain(std::function< pybind11::module &(std:
 void bind_mrpt_kinematics_CVehicleVelCmd(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_kinematics_CVehicleVelCmd_DiffDriven(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_poses_CPointPDF(std::function< pybind11::module &(std::string const &namespace_) > &M);
-void bind_mrpt_math_CMatrixDynamic_1(std::function< pybind11::module &(std::string const &namespace_) > &M);
-void bind_mrpt_math_CMatrixFixed(std::function< pybind11::module &(std::string const &namespace_) > &M);
-void bind_mrpt_math_CMatrixFixed_1(std::function< pybind11::module &(std::string const &namespace_) > &M);
-void bind_mrpt_math_CMatrixFixed_2(std::function< pybind11::module &(std::string const &namespace_) > &M);
-void bind_mrpt_math_CMatrixFixed_3(std::function< pybind11::module &(std::string const &namespace_) > &M);
-void bind_mrpt_math_CMatrixFixed_4(std::function< pybind11::module &(std::string const &namespace_) > &M);
+void bind_mrpt_math_CMatrixDynamic_2(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_poses_CPointPDFSOG(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_maps_CBeacon(std::function< pybind11::module &(std::string const &namespace_) > &M);
 void bind_mrpt_opengl_COctoMapVoxels(std::function< pybind11::module &(std::string const &namespace_) > &M);
@@ -608,8 +607,12 @@ PYBIND11_MODULE(pymrpt, root_module) {
 	bind_mrpt_vision_CStereoRectifyMap(M);
 	bind_mrpt_hwdrivers_CDUO3DCamera(M);
 	bind_mrpt_math_CMatrixDynamic(M);
+	bind_mrpt_math_CMatrixDynamic_1(M);
+	bind_mrpt_math_CMatrixFixed(M);
+	bind_mrpt_math_CMatrixFixed_1(M);
+	bind_mrpt_math_CMatrixFixed_2(M);
+	bind_mrpt_math_CMatrixFixed_3(M);
 	bind_mrpt_math_MatrixVectorBase(M);
-	bind_mrpt_math_MatrixBase(M);
 	bind_mrpt_math_math_frwds(M);
 	bind_mrpt_bayes_CProbabilityParticle_1(M);
 	bind_mrpt_math_CMatrixF(M);
@@ -661,12 +664,7 @@ PYBIND11_MODULE(pymrpt, root_module) {
 	bind_mrpt_kinematics_CVehicleVelCmd(M);
 	bind_mrpt_kinematics_CVehicleVelCmd_DiffDriven(M);
 	bind_mrpt_poses_CPointPDF(M);
-	bind_mrpt_math_CMatrixDynamic_1(M);
-	bind_mrpt_math_CMatrixFixed(M);
-	bind_mrpt_math_CMatrixFixed_1(M);
-	bind_mrpt_math_CMatrixFixed_2(M);
-	bind_mrpt_math_CMatrixFixed_3(M);
-	bind_mrpt_math_CMatrixFixed_4(M);
+	bind_mrpt_math_CMatrixDynamic_2(M);
 	bind_mrpt_poses_CPointPDFSOG(M);
 	bind_mrpt_maps_CBeacon(M);
 	bind_mrpt_opengl_COctoMapVoxels(M);
diff --git a/python/src/pymrpt.sources b/python/src/pymrpt.sources
index 08cd77ae2d..5015a1f833 100644
--- a/python/src/pymrpt.sources
+++ b/python/src/pymrpt.sources
@@ -167,8 +167,12 @@ mrpt/obs/CObservationStereoImages.cpp
 mrpt/vision/CStereoRectifyMap.cpp
 mrpt/hwdrivers/CDUO3DCamera.cpp
 mrpt/math/CMatrixDynamic.cpp
+mrpt/math/CMatrixDynamic_1.cpp
+mrpt/math/CMatrixFixed.cpp
+mrpt/math/CMatrixFixed_1.cpp
+mrpt/math/CMatrixFixed_2.cpp
+mrpt/math/CMatrixFixed_3.cpp
 mrpt/math/MatrixVectorBase.cpp
-mrpt/math/MatrixBase.cpp
 mrpt/math/math_frwds.cpp
 mrpt/bayes/CProbabilityParticle_1.cpp
 mrpt/math/CMatrixF.cpp
@@ -220,12 +224,7 @@ mrpt/kinematics/CKinematicChain.cpp
 mrpt/kinematics/CVehicleVelCmd.cpp
 mrpt/kinematics/CVehicleVelCmd_DiffDriven.cpp
 mrpt/poses/CPointPDF.cpp
-mrpt/math/CMatrixDynamic_1.cpp
-mrpt/math/CMatrixFixed.cpp
-mrpt/math/CMatrixFixed_1.cpp
-mrpt/math/CMatrixFixed_2.cpp
-mrpt/math/CMatrixFixed_3.cpp
-mrpt/math/CMatrixFixed_4.cpp
+mrpt/math/CMatrixDynamic_2.cpp
 mrpt/poses/CPointPDFSOG.cpp
 mrpt/maps/CBeacon.cpp
 mrpt/opengl/COctoMapVoxels.cpp