diff --git a/apps/sample/trimesh_base/CMakeLists.txt b/apps/sample/trimesh_base/CMakeLists.txt
new file mode 100644
index 00000000..8939a675
--- /dev/null
+++ b/apps/sample/trimesh_base/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required...
+set(CMAKE_CXX_EXTENSIONS OFF) #...without compiler extensions like gnu++11
+project (trimesh_base)
+add_executable(trimesh_base trimesh_base.cpp)
+include_directories(../../..)
+include_directories(../../../eigenlib)
diff --git a/vcg/complex/algorithms/update/quality.h b/vcg/complex/algorithms/update/quality.h
index c8d88908..51d27c94 100644
--- a/vcg/complex/algorithms/update/quality.h
+++ b/vcg/complex/algorithms/update/quality.h
@@ -46,17 +46,20 @@ class UpdateQuality
 public:
   typedef UpdateMeshType MeshType;
   typedef typename MeshType::ScalarType     ScalarType;
+  typedef typename MeshType::CoordType      CoordType;
   typedef typename MeshType::VertexType     VertexType;
   typedef typename MeshType::VertexPointer  VertexPointer;
   typedef typename MeshType::VertexIterator VertexIterator;
   typedef typename MeshType::FaceType       FaceType;
   typedef typename MeshType::FacePointer    FacePointer;
   typedef typename MeshType::FaceIterator   FaceIterator;
+  typedef typename MeshType::VertexType::QualityType VertexQualityType;
+  typedef typename MeshType::FaceType::QualityType FaceQualityType;
 
 
 /** Assign to each vertex of the mesh a constant quality value. Useful for initialization.
 */
-static void VertexConstant(MeshType &m, ScalarType q)
+static void VertexConstant(MeshType &m, VertexQualityType q)
 {
   tri::RequirePerVertexQuality(m);
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
@@ -83,8 +86,8 @@ static void VertexValence(UpdateMeshType &m)
 /** Clamp each vertex of the mesh with a range of values.
 */
 static void VertexClamp(MeshType &m,
-                        typename MeshType::VertexType::QualityType qmin,
-                        typename MeshType::VertexType::QualityType qmax)
+                        VertexQualityType qmin,
+                        VertexQualityType qmax)
 {
   tri::RequirePerVertexQuality(m);
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
@@ -93,7 +96,7 @@ static void VertexClamp(MeshType &m,
 
 /** Normalize the vertex quality so that it fits in the specified range.
 */
-static void VertexNormalize(MeshType &m, float qmin=0.0, float qmax=1.0)
+static void VertexNormalize(MeshType &m, VertexQualityType qmin=0.0, VertexQualityType qmax=1.0)
 {
   tri::RequirePerVertexQuality(m);
   ScalarType deltaRange = qmax-qmin;
@@ -105,18 +108,18 @@ static void VertexNormalize(MeshType &m, float qmin=0.0, float qmax=1.0)
 
 /** Normalize the face quality so that it fits in the specified range.
 */
-static void FaceNormalize(MeshType &m, float qmin=0.0, float qmax=1.0)
+static void FaceNormalize(MeshType &m, FaceQualityType qmin=0.0, FaceQualityType qmax=1.0)
 {
   tri::RequirePerFaceQuality(m);
-  ScalarType deltaRange = qmax-qmin;
-  std::pair<ScalarType,ScalarType> minmax = tri::Stat<MeshType>::ComputePerFaceQualityMinMax(m);
+  FaceQualityType deltaRange = qmax-qmin;
+  std::pair<FaceQualityType,FaceQualityType> minmax = tri::Stat<MeshType>::ComputePerFaceQualityMinMax(m);
   for(FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
     (*fi).Q() = qmin+deltaRange*((*fi).Q() - minmax.first)/(minmax.second - minmax.first);
 }
 
 /** Assign to each face of the mesh a constant quality value. Useful for initialization.
 */
-static void FaceConstant(MeshType &m, float q)
+static void FaceConstant(MeshType &m, FaceQualityType q)
 {
   tri::RequirePerFaceQuality(m);
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
@@ -129,7 +132,7 @@ static void FaceArea(MeshType &m)
 {
   tri::RequirePerFaceQuality(m);
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-    (*fi).Q()=vcg::DoubleArea(*fi)/ScalarType(2.0);
+    (*fi).Q()=FaceQualityType(vcg::DoubleArea(*fi)/ScalarType(2.0));
 }
 
 static void VertexFromFace( MeshType &m, bool areaWeighted=true)
@@ -142,7 +145,7 @@ static void VertexFromFace( MeshType &m, bool areaWeighted=true)
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
     if(!(*fi).IsD())
     {
-      ScalarType weight=1.0;
+      VertexQualityType weight=1.0;
       if(areaWeighted) weight = vcg::DoubleArea(*fi);
       for(int j=0;j<3;++j)
       {
@@ -163,14 +166,14 @@ static void VertexFromAttributeHandle(MeshType &m, typename MeshType::template P
 {
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
     if(!(*vi).IsD())
-      (*vi).Q()=ScalarType(h[vi]);
+      (*vi).Q()=VertexQualityType(h[vi]);
 }
 
 template <class HandleScalar>
 static void FaceFromAttributeHandle(MeshType &m, typename MeshType::template PerFaceAttributeHandle<HandleScalar> &h)
 {
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-    (*fi).Q() =h[fi];
+    (*fi).Q() =FaceQualityType(h[fi]);
 }
 
 static void FaceFromVertex( MeshType &m)
@@ -182,7 +185,7 @@ static void FaceFromVertex( MeshType &m)
      (*fi).Q() =0;
      for (size_t i=0;i<(*fi).VN();i++)
         (*fi).Q() += (*fi).V(i)->Q();
-     (*fi).Q()/=(ScalarType)(*fi).VN();
+     (*fi).Q()/=(FaceQualityType)(*fi).VN();
   }
 }
 
@@ -303,14 +306,14 @@ static void VertexFromCurvednessCurvatureDir(MeshType &m)
 
 static void VertexFromAbsoluteCurvature(MeshType &m)
 {
-    VertexIterator vi;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
-    {
-        if((*vi).Kg() >= 0)
-                    (*vi).Q() = math::Abs( 2*(*vi).Kh() );
-        else
-              (*vi).Q() = 2*math::Sqrt(math::Abs( (*vi).Kh()*(*vi).Kh() - (*vi).Kg()));
-    }
+  VertexIterator vi;
+  for(vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+  {
+    if((*vi).Kg() >= 0)
+      (*vi).Q() = math::Abs( 2*(*vi).Kh() );
+    else
+      (*vi).Q() = 2*math::Sqrt(math::Abs( (*vi).Kh()*(*vi).Kh() - (*vi).Kg()));
+  }
 }
 
 /*
@@ -333,11 +336,8 @@ static void VertexFromRMSCurvature(MeshType &m)
 
   Note: requires FF adjacency.
   */
-static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
+static void FaceSaturate(MeshType &m, FaceQualityType gradientThr=1.0)
 {
-  typedef typename MeshType::CoordType CoordType;
-  typedef typename MeshType::ScalarType ScalarType;
-
   UpdateFlags<MeshType>::FaceClearV(m);
   std::stack<FacePointer> st;
 
@@ -361,9 +361,9 @@ static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
      for(ffi=star.begin();ffi!=star.end();++ffi )
      {
        assert(fc!=(*ffi));
-       ScalarType &qi = (*ffi)->Q();
+       FaceQualityType &qi = (*ffi)->Q();
        CoordType bary1=((*ffi)->P(0)+(*ffi)->P(1)+(*ffi)->P(2))/3;
-       ScalarType distGeom = Distance(bary0,bary1) / gradientThr;
+       FaceQualityType distGeom = Distance(bary0,bary1) / gradientThr;
        // Main test if the quality varies more than the geometric displacement we have to lower something.
        if( distGeom < fabs(qi - fc->Q()))
        {
@@ -382,7 +382,7 @@ static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
            // second case: you have to lower qi, the vertex under examination.
            assert( distGeom < fabs(qi - fc->Q()));
            assert(fc->Q() < qi);
-           float newQi = fc->Q() + distGeom -(ScalarType)0.00001;
+           FaceQualityType newQi = fc->Q() + distGeom -(FaceQualityType)0.00001;
            assert(newQi <= qi);
            assert(fc->Q() < newQi);
            assert( distGeom > fabs(newQi - fc->Q()) );
@@ -401,11 +401,12 @@ static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
     }
   }
 
-/*
-  Saturate the vertex quality so that for each vertex the gradient of the quality is lower than the given threshold value (in absolute value)
-  The saturation is done in a conservative way (quality is always decreased and never increased)
+/** \brief Saturate Vertex Quality
+  * Saturate the vertex quality so that for each vertex the gradient of the quality field 
+  * is lower than the given threshold value (in absolute value)
+  * The saturation is done in a conservative way (quality is always decreased and never increased)
 
-  Note: requires VF adjacency.
+  * Note: requires VF adjacency.
   */
 static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
 {
@@ -422,11 +423,10 @@ static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
      st.pop();
      vc->SetV();
      std::vector<VertexPointer> star;
-     typename std::vector<VertexPointer>::iterator vvi;
      face::VVStarVF<FaceType>(vc,star);
-     for(vvi=star.begin();vvi!=star.end();++vvi )
+     for(auto vvi=star.begin();vvi!=star.end();++vvi )
      {
-       ScalarType &qi = (*vvi)->Q();
+       ScalarType qi = (*vvi)->Q();
        ScalarType distGeom = Distance((*vvi)->cP(),vc->cP()) / gradientThr;
        // Main test if the quality varies more than the geometric displacement we have to lower something.
        if( distGeom < fabs(qi - vc->Q()))
@@ -436,8 +436,8 @@ static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
          if(vc->Q() > qi)  // first case: the center of the star has to be lowered (and re-inserted in the queue).
          {
            //printf("Reinserting center %i \n",vc - &*m.vert.begin());
-           ScalarType delta=std::min((ScalarType)0.00001,(ScalarType)distGeom/2.0);
-           vc->Q() = qi+distGeom-delta;
+           VertexQualityType delta=std::min(ScalarType(0.00001),ScalarType(distGeom/2.0));
+           vc->Q() = VertexQualityType(qi+distGeom-delta);
            assert( distGeom > fabs(qi - vc->Q()));
            st.push(vc);
            break;
@@ -447,8 +447,8 @@ static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
            // second case: you have to lower qi, the vertex under examination.
            assert( distGeom < fabs(qi - vc->Q()));
            assert(vc->Q() < qi);
-           ScalarType delta=std::min((ScalarType)0.00001,(ScalarType)distGeom/2.0);
-           float newQi = vc->Q() + distGeom -delta;
+           VertexQualityType delta=std::min(VertexQualityType(0.00001),VertexQualityType(distGeom/2.0));
+           VertexQualityType newQi = vc->Q() + distGeom -delta;
            assert(newQi <= qi);
            assert(vc->Q() < newQi);
            assert( distGeom > fabs(newQi - vc->Q()) );