diff --git a/Eigen/Array b/Eigen/Array
index fe2a861..c847f95 100644
--- a/Eigen/Array
+++ b/Eigen/Array
@@ -7,7 +7,7 @@
 
 namespace Eigen {
 
-/** \defgroup Array Array module
+/** \defgroup Array_Module Array module
   * This module provides several handy features to manipulate matrices as simple array of values.
   * In addition to listed classes, it defines various methods of the Cwise interface
   * (accessible from MatrixBase::cwise()), including:
diff --git a/Eigen/CMakeLists.txt b/Eigen/CMakeLists.txt
index 76aca5e..f416148 100644
--- a/Eigen/CMakeLists.txt
+++ b/Eigen/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(Eigen_HEADERS Core LU Cholesky QR Geometry Sparse Array SVD LeastSquares StdVector)
+set(Eigen_HEADERS Core LU Cholesky QR Geometry Sparse Array SVD LeastSquares QtAlignedMalloc StdVector)
 
 if(EIGEN_BUILD_LIB)
     set(Eigen_SRCS
diff --git a/Eigen/Geometry b/Eigen/Geometry
index 5a674a1..617b25e 100644
--- a/Eigen/Geometry
+++ b/Eigen/Geometry
@@ -14,7 +14,10 @@
 
 namespace Eigen {
 
-/** \defgroup GeometryModule Geometry module
+/** \defgroup Geometry_Module Geometry module
+  *
+  * \nonstableyet
+  *
   * This module provides support for:
   *  - fixed-size homogeneous transformations
   *  - translation, scaling, 2D and 3D rotations
diff --git a/Eigen/LeastSquares b/Eigen/LeastSquares
index 71c1677..4f9fcba 100644
--- a/Eigen/LeastSquares
+++ b/Eigen/LeastSquares
@@ -11,15 +11,15 @@
 
 namespace Eigen {
 
-/** \defgroup Regression_Module Regression module
+/** \defgroup LeastSquares_Module LeastSquares module
   * This module provides linear regression and related features.
   *
   * \code
-  * #include <Eigen/Regression>
+  * #include <Eigen/LeastSquares>
   * \endcode
   */
 
-#include "src/Regression/Regression.h"
+#include "src/LeastSquares/LeastSquares.h"
 
 } // namespace Eigen
 
diff --git a/Eigen/QR b/Eigen/QR
index 5116b7f..97907d1 100644
--- a/Eigen/QR
+++ b/Eigen/QR
@@ -19,6 +19,9 @@
 namespace Eigen {
 
 /** \defgroup QR_Module QR module
+  *
+  * \nonstableyet
+  *
   * This module mainly provides QR decomposition and an eigen value solver.
   * This module also provides some MatrixBase methods, including:
   *  - MatrixBase::qr(),
diff --git a/Eigen/SVD b/Eigen/SVD
index f006a4b..eef0556 100644
--- a/Eigen/SVD
+++ b/Eigen/SVD
@@ -8,6 +8,9 @@
 namespace Eigen {
 
 /** \defgroup SVD_Module SVD module
+  *
+  * \nonstableyet
+  *
   * This module provides SVD decomposition for (currently) real matrices.
   * This decomposition is accessible via the following MatrixBase method:
   *  - MatrixBase::svd()
diff --git a/Eigen/Sparse b/Eigen/Sparse
index 2d5854e..57e9af6 100644
--- a/Eigen/Sparse
+++ b/Eigen/Sparse
@@ -70,6 +70,17 @@
 
 namespace Eigen {
 
+/** \defgroup Sparse_Module Sparse module
+  *
+  * \nonstableyet
+  *
+  * See the \ref TutorialSparse "Sparse tutorial"
+  *
+  * \code
+  * #include <Eigen/QR>
+  * \endcode
+  */
+
 #include "src/Sparse/SparseUtil.h"
 #include "src/Sparse/SparseMatrixBase.h"
 #include "src/Sparse/CompressedStorage.h"
diff --git a/Eigen/src/CMakeLists.txt b/Eigen/src/CMakeLists.txt
index e1a0d60..b244809 100644
--- a/Eigen/src/CMakeLists.txt
+++ b/Eigen/src/CMakeLists.txt
@@ -5,6 +5,6 @@
 ADD_SUBDIRECTORY(Cholesky)
 ADD_SUBDIRECTORY(Array)
 ADD_SUBDIRECTORY(Geometry)
-ADD_SUBDIRECTORY(Regression)
+ADD_SUBDIRECTORY(LeastSquares)
 ADD_SUBDIRECTORY(Sparse)
 ADD_SUBDIRECTORY(StdVector)
diff --git a/Eigen/src/LU/LU.h b/Eigen/src/LU/LU.h
index a48ee8d..ff4410b 100644
--- a/Eigen/src/LU/LU.h
+++ b/Eigen/src/LU/LU.h
@@ -429,8 +429,7 @@
       .template marked<UpperTriangular>()
       .solveTriangularInPlace(y);
 
-  for(int i = 0; i < m_rank; ++i)
-    result->row(m_q.coeff(i)) = y.row(i);
+  for(int i = 0; i < m_rank; ++i) result->row(m_q.coeff(i)) = y.row(i);
   for(int i = m_rank; i < cols; ++i) result->row(m_q.coeff(i)).setZero();
   for(int k = 0; k < dimker; ++k) result->coeffRef(m_q.coeff(m_rank+k), k) = Scalar(1);
 }
diff --git a/Eigen/src/LeastSquares/CMakeLists.txt b/Eigen/src/LeastSquares/CMakeLists.txt
new file mode 100644
index 0000000..805d578
--- /dev/null
+++ b/Eigen/src/LeastSquares/CMakeLists.txt
@@ -0,0 +1,6 @@
+FILE(GLOB Eigen_LeastSquares_SRCS "*.h")
+
+INSTALL(FILES 
+  ${Eigen_LeastSquares_SRCS}
+  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/LeastSquares
+  )
diff --git a/Eigen/src/Regression/Regression.h b/Eigen/src/LeastSquares/LeastSquares.h
similarity index 96%
rename from Eigen/src/Regression/Regression.h
rename to Eigen/src/LeastSquares/LeastSquares.h
index 61d4cdc..cd6ec3c 100644
--- a/Eigen/src/Regression/Regression.h
+++ b/Eigen/src/LeastSquares/LeastSquares.h
@@ -22,12 +22,12 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_REGRESSION_H
-#define EIGEN_REGRESSION_H
+#ifndef EIGEN_LEASTSQUARES_H
+#define EIGEN_LEASTSQUARES_H
 
-/** \ingroup Regression_Module
+/** \ingroup LeastSquares_Module
   *
-  * \regression_module
+  * \leastsquares_module
   *
   * For a set of points, this function tries to express
   * one of the coords as a linear (affine) function of the other coords.
@@ -128,9 +128,9 @@
   ei_assert((m.adjoint()*m).lu().solve(v, result));
 }
 
-/** \ingroup Regression_Module
+/** \ingroup LeastSquares_Module
   *
-  * \regression_module
+  * \leastsquares_module
   *
   * This function is quite similar to linearRegression(), so we refer to the
   * documentation of this function and only list here the differences.
@@ -195,4 +195,4 @@
 }
 
 
-#endif // EIGEN_REGRESSION_H
+#endif // EIGEN_LEASTSQUARES_H
diff --git a/Eigen/src/Regression/CMakeLists.txt b/Eigen/src/Regression/CMakeLists.txt
deleted file mode 100644
index c691f52..0000000
--- a/Eigen/src/Regression/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Regression_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_Regression_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Regression
-  )
diff --git a/Mainpage.dox b/Mainpage.dox
index 17f4d9c..ccab801 100644
--- a/Mainpage.dox
+++ b/Mainpage.dox
@@ -18,7 +18,7 @@
 // DOXYGEN_SET_MULTILINE_CPP_IS_BRIEF = NO
 // DOXYGEN_SET_DETAILS_AT_TOP         = YES
 // DOXYGEN_SET_INHERIT_DOCS           = YES
-// DOXYGEN_SET_ALIASES                = "only_for_vectors=This is only for vectors (either row-vectors or column-vectors), i.e. matrices which are known at compile-time to have either one row or one column."                          "array_module=This is defined in the %Array module. \code #include <Eigen/Array> \endcode"                          "lu_module=This is defined in the %LU module. \code #include <Eigen/LU> \endcode"                          "cholesky_module=This is defined in the %Cholesky module. \code #include <Eigen/Cholesky> \endcode"                          "qr_module=This is defined in the %QR module. \code #include <Eigen/QR> \endcode"                          "svd_module=This is defined in the %SVD module. \code #include <Eigen/SVD> \endcode"                          "geometry_module=This is defined in the %Geometry module. \code #include <Eigen/Geometry> \endcode"                          "regression_module=This is defined in the %Regression module. \code #include <Eigen/Regression> \endcode"                          "addexample=\anchor"             "label=\bug"             "redstar=<a href='#warningarraymodule' style='color:red;text-decoration: none;'>*</a>" "nonstableyet=\warning This class/function is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\""
+// DOXYGEN_SET_ALIASES                = "only_for_vectors=This is only for vectors (either row-vectors or column-vectors), i.e. matrices which are known at compile-time to have either one row or one column."                          "array_module=This is defined in the %Array module. \code #include <Eigen/Array> \endcode"                          "lu_module=This is defined in the %LU module. \code #include <Eigen/LU> \endcode"                          "cholesky_module=This is defined in the %Cholesky module. \code #include <Eigen/Cholesky> \endcode"                          "qr_module=This is defined in the %QR module. \code #include <Eigen/QR> \endcode"                          "svd_module=This is defined in the %SVD module. \code #include <Eigen/SVD> \endcode"                          "geometry_module=This is defined in the %Geometry module. \code #include <Eigen/Geometry> \endcode"                          "regression_module=This is defined in the %Regression module. \code #include <Eigen/Regression> \endcode"                          "addexample=\anchor"             "label=\bug"             "redstar=<a href='#warningarraymodule' style='color:red;text-decoration: none;'>*</a>" "nonstableyet=\warning This is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\""
 // DOXYGEN_SET_DISTRIBUTE_GROUP_DOC   = NO
 // DOXYGEN_SET_SUBGROUPING            = YES
 // DOXYGEN_SET_TYPEDEF_HIDES_STRUCT   = NO
diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
index b30ffe0..873dd24 100644
--- a/doc/Doxyfile.in
+++ b/doc/Doxyfile.in
@@ -210,11 +210,11 @@
                          "qr_module=This is defined in the %QR module. \code #include <Eigen/QR> \endcode" \
                          "svd_module=This is defined in the %SVD module. \code #include <Eigen/SVD> \endcode" \
                          "geometry_module=This is defined in the %Geometry module. \code #include <Eigen/Geometry> \endcode" \
-                         "regression_module=This is defined in the %Regression module. \code #include <Eigen/Regression> \endcode" \
+                         "leastsquares_module=This is defined in the %LeastSquares module. \code #include <Eigen/LeastSquares> \endcode" \
                          "addexample=\anchor"  \
                          "label=\bug" \
                          "redstar=<a href='#warningarraymodule' style='color:red;text-decoration: none;'>*</a>" \
-                         "nonstableyet=\warning This class/function is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\""
+                         "nonstableyet=\warning This is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\""
 
 # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
 # sources only. Doxygen will then generate output that is more tailored for C.
diff --git a/doc/Experimental.dox b/doc/Experimental.dox
index f55a47f..2191c2b 100644
--- a/doc/Experimental.dox
+++ b/doc/Experimental.dox
@@ -12,7 +12,7 @@
 Experimental features may at any time:
 \li be removed;
 \li be subject to an API incompatible change;
-\li introduce API or ABI incompatible changes in your own application if you let them affect your API or ABI.
+\li introduce API or ABI incompatible changes in your own code if you let them affect your API or ABI.
 
 \section modules Experimental modules
 
@@ -20,6 +20,7 @@
 \li SVD
 \li QR
 \li Sparse
+\li Geometry
 
 \section core Experimental parts of the Core module