Replace explicit types with Self where possible.

nalgebra-lapack/src/cholesky.rs

@@ -62,7 +62,7 @@ where DefaultAllocator: Allocator<N, D, D>
         N::xpotrf(uplo, dim, m.as_mut_slice(), dim, &mut info);
         lapack_check!(info);
 
-        Some(Cholesky { l: m })
+        Some(Self { l: m })
     }
 
     /// Retrieves the lower-triangular factor of the cholesky decomposition.

nalgebra-lapack/src/eigen.rs

@@ -127,7 +127,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
-                    return Some(Eigen {
+                    return Some(Self {
                         eigenvalues: wr,
                         left_eigenvectors: Some(vl),
                         eigenvectors: Some(vr),
@@ -156,7 +156,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
-                    return Some(Eigen {
+                    return Some(Self {
                         eigenvalues: wr,
                         left_eigenvectors: Some(vl),
                         eigenvectors: None,
@@ -185,7 +185,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
-                    return Some(Eigen {
+                    return Some(Self {
                         eigenvalues: wr,
                         left_eigenvectors: None,
                         eigenvectors: Some(vr),
@@ -212,7 +212,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
-                    return Some(Eigen {
+                    return Some(Self {
                         eigenvalues: wr,
                         left_eigenvectors: None,
                         eigenvectors: None,

nalgebra-lapack/src/hessenberg.rs

@@ -48,7 +48,7 @@ impl<N: HessenbergScalar + Zero, D: DimSub<U1>> Hessenberg<N, D>
 where DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>
 {
     /// Computes the hessenberg decomposition of the matrix `m`.
-    pub fn new(mut m: MatrixN<N, D>) -> Hessenberg<N, D> {
+    pub fn new(mut m: MatrixN<N, D>) -> Self {
         let nrows = m.data.shape().0;
         let n = nrows.value() as i32;
 
@@ -83,7 +83,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>
         );
         lapack_panic!(info);
 
-        Hessenberg { h: m, tau: tau }
+        Self { h: m, tau: tau }
     }
 
     /// Computes the hessenberg matrix of this decomposition.

nalgebra-lapack/src/lu.rs

@@ -82,7 +82,7 @@ where
         );
         lapack_panic!(info);
 
-        LU { lu: m, p: ipiv }
+        Self { lu: m, p: ipiv }
     }
 
     /// Gets the lower-triangular matrix part of the decomposition.

nalgebra-lapack/src/qr.rs

@@ -54,14 +54,14 @@ where DefaultAllocator: Allocator<N, R, C>
         + Allocator<N, DimMinimum<R, C>>
 {
     /// Computes the QR decomposition of the matrix `m`.
-    pub fn new(mut m: MatrixMN<N, R, C>) -> QR<N, R, C> {
+    pub fn new(mut m: MatrixMN<N, R, C>) -> Self {
         let (nrows, ncols) = m.data.shape();
 
         let mut info = 0;
         let mut tau = unsafe { Matrix::new_uninitialized_generic(nrows.min(ncols), U1) };
 
         if nrows.value() == 0 || ncols.value() == 0 {
-            return QR { qr: m, tau: tau };
+            return Self { qr: m, tau: tau };
         }
 
         let lwork = N::xgeqrf_work_size(
@@ -86,7 +86,7 @@ where DefaultAllocator: Allocator<N, R, C>
             &mut info,
         );
 
-        QR { qr: m, tau: tau }
+        Self { qr: m, tau: tau }
     }
 
     /// Retrieves the upper trapezoidal submatrix `R` of this decomposition.

nalgebra-lapack/src/symmetric_eigen.rs

@@ -62,7 +62,7 @@ where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>
     pub fn new(m: MatrixN<N, D>) -> Self {
         let (vals, vecs) =
             Self::do_decompose(m, true).expect("SymmetricEigen: convergence failure.");
-        SymmetricEigen {
+        Self {
             eigenvalues: vals,
             eigenvectors: vecs.unwrap(),
         }

src/base/dimension.rs

@@ -22,8 +22,8 @@ pub struct Dynamic {
 impl Dynamic {
     /// A dynamic size equal to `value`.
     #[inline]
-    pub fn new(value: usize) -> Dynamic {
-        Dynamic { value: value }
+    pub fn new(value: usize) -> Self {
+        Self { value: value }
     }
 }
 
@@ -80,7 +80,7 @@ impl Dim for Dynamic {
 
     #[inline]
     fn from_usize(dim: usize) -> Self {
-        Dynamic::new(dim)
+        Self::new(dim)
     }
 
     #[inline]
@@ -93,17 +93,17 @@ impl Add<usize> for Dynamic {
     type Output = Dynamic;
 
     #[inline]
-    fn add(self, rhs: usize) -> Dynamic {
-        Dynamic::new(self.value + rhs)
+    fn add(self, rhs: usize) -> Self {
+        Self::new(self.value + rhs)
     }
 }
 
 impl Sub<usize> for Dynamic {
     type Output = Dynamic;
 
     #[inline]
-    fn sub(self, rhs: usize) -> Dynamic {
-        Dynamic::new(self.value - rhs)
+    fn sub(self, rhs: usize) -> Self {
+        Self::new(self.value - rhs)
     }
 }
 

src/base/matrix.rs

@@ -152,7 +152,7 @@ impl<N: Scalar, R: Dim, C: Dim, S> Matrix<N, R, C, S> {
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Creates a new matrix with the given data.
     #[inline]
-    pub fn from_data(data: S) -> Matrix<N, R, C, S> {
+    pub fn from_data(data: S) -> Self {
         unsafe { Self::from_data_statically_unchecked(data) }
     }
 

src/base/matrix_alga.rs

@@ -51,7 +51,7 @@ where
     DefaultAllocator: Allocator<N, R, C>,
 {
     #[inline]
-    fn two_sided_inverse(&self) -> MatrixMN<N, R, C> {
+    fn two_sided_inverse(&self) -> Self {
         -self
     }
 
@@ -203,7 +203,7 @@ impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
 where DefaultAllocator: Allocator<N, R, C>
 {
     #[inline]
-    fn orthonormalize(vs: &mut [MatrixMN<N, R, C>]) -> usize {
+    fn orthonormalize(vs: &mut [Self]) -> usize {
         let mut nbasis_elements = 0;
 
         for i in 0..vs.len() {

src/base/matrix_slice.rs

@@ -99,7 +99,7 @@ impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim> Clone
 {
     #[inline]
     fn clone(&self) -> Self {
-        SliceStorage {
+        Self {
             ptr: self.ptr,
             shape: self.shape,
             strides: self.strides,

src/base/ops.rs

@@ -24,7 +24,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Index<usize> for Matrix<N,
     type Output = N;
 
     #[inline]
-    fn index(&self, i: usize) -> &N {
+    fn index(&self, i: usize) -> &Self::Output {
         let ij = self.vector_to_matrix_index(i);
         &self[ij]
     }
@@ -38,7 +38,7 @@ where
     type Output = N;
 
     #[inline]
-    fn index(&self, ij: (usize, usize)) -> &N {
+    fn index(&self, ij: (usize, usize)) -> &Self::Output {
         let shape = self.shape();
         assert!(
             ij.0 < shape.0 && ij.1 < shape.1,

src/base/vec_storage.rs

@@ -36,12 +36,12 @@ pub type MatrixVec<N, R, C> = VecStorage<N, R, C>;
 impl<N, R: Dim, C: Dim> VecStorage<N, R, C> {
     /// Creates a new dynamic matrix data storage from the given vector and shape.
     #[inline]
-    pub fn new(nrows: R, ncols: C, data: Vec<N>) -> VecStorage<N, R, C> {
+    pub fn new(nrows: R, ncols: C, data: Vec<N>) -> Self {
         assert!(
             nrows.value() * ncols.value() == data.len(),
             "Data storage buffer dimension mismatch."
         );
-        VecStorage {
+        Self {
             data: data,
             nrows: nrows,
             ncols: ncols,

src/geometry/isometry.rs

@@ -100,7 +100,7 @@ where DefaultAllocator: Allocator<N, D>
 {
     #[inline]
     fn clone(&self) -> Self {
-        Isometry::from_parts(self.translation.clone(), self.rotation.clone())
+        Self::from_parts(self.translation.clone(), self.rotation.clone())
     }
 }
 
@@ -122,8 +122,8 @@ where DefaultAllocator: Allocator<N, D>
     /// assert_relative_eq!(iso * Point3::new(1.0, 2.0, 3.0), Point3::new(-1.0, 2.0, 0.0), epsilon = 1.0e-6);
     /// ```
     #[inline]
-    pub fn from_parts(translation: Translation<N, D>, rotation: R) -> Isometry<N, D, R> {
-        Isometry {
+    pub fn from_parts(translation: Translation<N, D>, rotation: R) -> Self {
+        Self {
             rotation: rotation,
             translation: translation,
             _noconstruct: PhantomData,
@@ -144,7 +144,7 @@ where DefaultAllocator: Allocator<N, D>
     /// assert_eq!(inv * (iso * pt), pt);
     /// ```
     #[inline]
-    pub fn inverse(&self) -> Isometry<N, D, R> {
+    pub fn inverse(&self) -> Self {
         let mut res = self.clone();
         res.inverse_mut();
         res
@@ -306,7 +306,7 @@ where
     DefaultAllocator: Allocator<N, D>,
 {
     #[inline]
-    fn eq(&self, right: &Isometry<N, D, R>) -> bool {
+    fn eq(&self, right: &Self) -> bool {
         self.translation == right.translation && self.rotation == right.rotation
     }
 }

src/geometry/isometry_alga.rs

@@ -121,7 +121,7 @@ where
     type Translation = Translation<N, D>;
 
     #[inline]
-    fn decompose(&self) -> (Translation<N, D>, R, Id, R) {
+    fn decompose(&self) -> (Self::Translation, R, Id, R) {
         (
             self.translation.clone(),
             self.rotation.clone(),

src/geometry/orthographic.rs

@@ -26,7 +26,7 @@ impl<N: Real> Copy for Orthographic3<N> {}
 impl<N: Real> Clone for Orthographic3<N> {
     #[inline]
     fn clone(&self) -> Self {
-        Orthographic3::from_matrix_unchecked(self.matrix.clone())
+        Self::from_matrix_unchecked(self.matrix.clone())
     }
 }
 
@@ -57,7 +57,7 @@ impl<'a, N: Real + Deserialize<'a>> Deserialize<'a> for Orthographic3<N> {
     where Des: Deserializer<'a> {
         let matrix = Matrix4::<N>::deserialize(deserializer)?;
 
-        Ok(Orthographic3::from_matrix_unchecked(matrix))
+        Ok(Self::from_matrix_unchecked(matrix))
     }
 }
 
@@ -135,7 +135,7 @@ impl<N: Real> Orthographic3<N> {
     /// ```
     #[inline]
     pub fn from_matrix_unchecked(matrix: Matrix4<N>) -> Self {
-        Orthographic3 { matrix: matrix }
+        Self { matrix: matrix }
     }
 
     /// Creates a new orthographic projection matrix from an aspect ratio and the vertical field of view.

src/geometry/perspective.rs

@@ -27,7 +27,7 @@ impl<N: Real> Copy for Perspective3<N> {}
 impl<N: Real> Clone for Perspective3<N> {
     #[inline]
     fn clone(&self) -> Self {
-        Perspective3::from_matrix_unchecked(self.matrix.clone())
+        Self::from_matrix_unchecked(self.matrix.clone())
     }
 }
 
@@ -58,7 +58,7 @@ impl<'a, N: Real + Deserialize<'a>> Deserialize<'a> for Perspective3<N> {
     where Des: Deserializer<'a> {
         let matrix = Matrix4::<N>::deserialize(deserializer)?;
 
-        Ok(Perspective3::from_matrix_unchecked(matrix))
+        Ok(Self::from_matrix_unchecked(matrix))
     }
 }
 
@@ -75,7 +75,7 @@ impl<N: Real> Perspective3<N> {
         );
 
         let matrix = Matrix4::identity();
-        let mut res = Perspective3::from_matrix_unchecked(matrix);
+        let mut res = Self::from_matrix_unchecked(matrix);
 
         res.set_fovy(fovy);
         res.set_aspect(aspect);
@@ -93,7 +93,7 @@ impl<N: Real> Perspective3<N> {
     /// projection.
     #[inline]
     pub fn from_matrix_unchecked(matrix: Matrix4<N>) -> Self {
-        Perspective3 { matrix: matrix }
+        Self { matrix: matrix }
     }
 
     /// Retrieves the inverse of the underlying homogeneous matrix.

src/geometry/point.rs

@@ -66,7 +66,7 @@ where
     where Des: Deserializer<'a> {
         let coords = VectorN::<N, D>::deserialize(deserializer)?;
 
-        Ok(Point::from(coords))
+        Ok(Self::from(coords))
     }
 }
 
@@ -126,8 +126,8 @@ where DefaultAllocator: Allocator<N, D>
     /// Creates a new point with the given coordinates.
     #[deprecated(note = "Use Point::from(vector) instead.")]
     #[inline]
-    pub fn from_coordinates(coords: VectorN<N, D>) -> Point<N, D> {
-        Point { coords: coords }
+    pub fn from_coordinates(coords: VectorN<N, D>) -> Self {
+        Self { coords: coords }
     }
 
     /// The dimension of this point.

src/geometry/point_alga.rs

@@ -54,7 +54,7 @@ where
 {
     #[inline]
     fn meet(&self, other: &Self) -> Self {
-        Point::from(self.coords.meet(&other.coords))
+        Self::from(self.coords.meet(&other.coords))
     }
 }
 
@@ -65,7 +65,7 @@ where
 {
     #[inline]
     fn join(&self, other: &Self) -> Self {
-        Point::from(self.coords.join(&other.coords))
+        Self::from(self.coords.join(&other.coords))
     }
 }
 
@@ -78,6 +78,6 @@ where
     fn meet_join(&self, other: &Self) -> (Self, Self) {
         let (meet, join) = self.coords.meet_join(&other.coords);
 
-        (Point::from(meet), Point::from(join))
+        (Self::from(meet), Self::from(join))
     }
 }