diff --git a/src/lib/matrix/matrix/Dual.hpp b/src/lib/matrix/matrix/Dual.hpp
index 26641e0f51..fad1581623 100644
--- a/src/lib/matrix/matrix/Dual.hpp
+++ b/src/lib/matrix/matrix/Dual.hpp
@@ -92,6 +92,16 @@ struct Dual {
 		return (*this = *this / a);
 	}
 
+	bool operator==(const Dual<Scalar, N> &other) const
+	{
+		return isEqualF(value, other.value) && (derivative == other.derivative);
+	}
+
+	bool operator!=(const Dual<Scalar, N> &other) const
+	{
+		const Dual<Scalar, N> &self = *this;
+		return !(self == other);
+	}
 };
 
 // operators
@@ -359,23 +369,12 @@ Matrix<Scalar, M, N> collectReals(const Matrix<Dual<Scalar, D>, M, N> &input)
 	return r;
 }
 
-#if defined(SUPPORT_STDIOSTREAM)
-template<typename Type, size_t N>
-std::ostream &operator<<(std::ostream &os,
-			 const matrix::Dual<Type, N> &dual)
+template<typename OStream, typename Type, size_t N>
+OStream &operator<<(OStream &os, const matrix::Dual<Type, N> &dual)
 {
-	os << "[";
-	os << std::setw(10) << dual.value << ";";
-
-	for (size_t j = 0; j < N; ++j) {
-		os << "\t";
-		os << std::setw(10) << static_cast<double>(dual.derivative(j));
-	}
-
-	os << "]";
+	os << "\nValue: " << dual.value << "\nDerivative:" << dual.derivative;
 	return os;
 }
-#endif // defined(SUPPORT_STDIOSTREAM)
 
 }
 
diff --git a/src/lib/matrix/matrix/Matrix.hpp b/src/lib/matrix/matrix/Matrix.hpp
index 5b76bb861f..a5694a7515 100644
--- a/src/lib/matrix/matrix/Matrix.hpp
+++ b/src/lib/matrix/matrix/Matrix.hpp
@@ -12,11 +12,6 @@
 #include <cstdio>
 #include <cstring>
 
-#if defined(SUPPORT_STDIOSTREAM)
-#include <iostream>
-#include <iomanip>
-#endif // defined(SUPPORT_STDIOSTREAM)
-
 #include "math.hpp"
 
 namespace matrix
@@ -816,24 +811,18 @@ Matrix<Type, M, N> constrain(const Matrix<Type, M, N> &x,
 	return m;
 }
 
-#if defined(SUPPORT_STDIOSTREAM)
-template<typename Type, size_t  M, size_t N>
-std::ostream &operator<<(std::ostream &os,
-			 const matrix::Matrix<Type, M, N> &matrix)
+template<typename OStream, typename Type, size_t M, size_t N>
+OStream &operator<<(OStream &os, const matrix::Matrix<Type, M, N> &matrix)
 {
-	for (size_t i = 0; i < M; ++i) {
-		os << "[";
-
-		for (size_t j = 0; j < N; ++j) {
-			os << std::setw(10) << matrix(i, j);
-			os << "\t";
-		}
-
-		os << "]" << std::endl;
-	}
+	os << "\n";
+	// element: tab, point, 8 digits, 4 scientific notation chars; row: newline; string: \0 end
+	static const size_t n = 15 * N * M + M + 1;
+	char *buf = new char[n];
+	matrix.write_string(buf, n);
+	os << buf;
+	delete[] buf;
 
 	return os;
 }
-#endif // defined(SUPPORT_STDIOSTREAM)
 
 } // namespace matrix
diff --git a/src/lib/matrix/matrix/Vector.hpp b/src/lib/matrix/matrix/Vector.hpp
index 892be7ce0b..1d1500ad9d 100644
--- a/src/lib/matrix/matrix/Vector.hpp
+++ b/src/lib/matrix/matrix/Vector.hpp
@@ -148,6 +148,25 @@ public:
 
 		return r;
 	}
+
+	void print() const
+	{
+		(*this).transpose().print();
+	}
 };
 
+template<typename OStream, typename Type, size_t M>
+OStream &operator<<(OStream &os, const matrix::Vector<Type, M> &vector)
+{
+	os << "\n";
+	// element: tab, point, 8 digits, 4 scientific notation chars; row: newline; string: \0 end
+	static const size_t n = 15 * M * 1 + 1 + 1;
+	char *buf = new char[n];
+	vector.transpose().write_string(buf, n);
+	os << buf;
+	delete[] buf;
+
+	return os;
+}
+
 } // namespace matrix
diff --git a/src/lib/matrix/test/MatrixDualTest.cpp b/src/lib/matrix/test/MatrixDualTest.cpp
index 6a34a97c8c..d3b404899e 100644
--- a/src/lib/matrix/test/MatrixDualTest.cpp
+++ b/src/lib/matrix/test/MatrixDualTest.cpp
@@ -39,12 +39,6 @@
 
 using namespace matrix;
 
-template <typename Scalar, size_t N>
-bool isEqualAll(Dual<Scalar, N> a, Dual<Scalar, N> b)
-{
-	return isEqualF(a.value, b.value) && a.derivative == b.derivative;
-}
-
 template <typename T>
 T testFunction(const Vector<T, 3> &point)
 {
@@ -83,9 +77,9 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_FLOAT_EQ(c.derivative(0), 2.f);
 
 		Dual<float, 1> d = +a;
-		EXPECT_TRUE(isEqualAll(d, a));
+		EXPECT_EQ(d, a);
 		d += b;
-		EXPECT_TRUE(isEqualAll(d, c));
+		EXPECT_EQ(d, c);
 
 		Dual<float, 1> e = a;
 		e += b.value;
@@ -93,7 +87,7 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_EQ(e.derivative, a.derivative);
 
 		Dual<float, 1> f = b.value + a;
-		EXPECT_TRUE(isEqualAll(f, e));
+		EXPECT_EQ(f, e);
 	}
 
 	{
@@ -103,9 +97,9 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_FLOAT_EQ(c.derivative(0), 0.f);
 
 		Dual<float, 1> d = b;
-		EXPECT_TRUE(isEqualAll(d, b));
+		EXPECT_EQ(d, b);
 		d -= a;
-		EXPECT_TRUE(isEqualAll(d, c));
+		EXPECT_EQ(d, c);
 
 		Dual<float, 1> e = b;
 		e -= a.value;
@@ -113,7 +107,7 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_EQ(e.derivative, b.derivative);
 
 		Dual<float, 1> f = a.value - b;
-		EXPECT_TRUE(isEqualAll(f, -e));
+		EXPECT_EQ(f, -e);
 	}
 
 	{
@@ -123,9 +117,9 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_FLOAT_EQ(c.derivative(0), 9.f);
 
 		Dual<float, 1> d = a;
-		EXPECT_TRUE(isEqualAll(d, a));
+		EXPECT_EQ(d, a);
 		d *= b;
-		EXPECT_TRUE(isEqualAll(d, c));
+		EXPECT_EQ(d, c);
 
 		Dual<float, 1> e = a;
 		e *= b.value;
@@ -133,7 +127,7 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_EQ(e.derivative, a.derivative * b.value);
 
 		Dual<float, 1> f = b.value * a;
-		EXPECT_TRUE(isEqualAll(f, e));
+		EXPECT_EQ(f, e);
 	}
 
 	{
@@ -143,9 +137,9 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_FLOAT_EQ(c.derivative(0), -1.f / 3.f);
 
 		Dual<float, 1> d = b;
-		EXPECT_TRUE(isEqualAll(d, b));
+		EXPECT_EQ(d, b);
 		d /= a;
-		EXPECT_TRUE(isEqualAll(d, c));
+		EXPECT_EQ(d, c);
 
 		Dual<float, 1> e = b;
 		e /= a.value;
@@ -153,7 +147,7 @@ TEST(MatrixDualTest, Dual)
 		EXPECT_EQ(e.derivative, b.derivative / a.value);
 
 		Dual<float, 1> f = a.value / b;
-		EXPECT_TRUE(isEqualAll(f, 1.f / e));
+		EXPECT_EQ(f, 1.f / e);
 	}
 
 	{
@@ -170,9 +164,9 @@ TEST(MatrixDualTest, Dual)
 
 	{
 		// abs
-		EXPECT_TRUE(isEqualAll(a, abs(-a)));
-		EXPECT_FALSE(isEqualAll(-a, abs(a)));
-		EXPECT_TRUE(isEqualAll(-a, -abs(a)));
+		EXPECT_EQ(a, abs(-a));
+		EXPECT_NE(-a, abs(a));
+		EXPECT_EQ(-a, -abs(a));
 	}
 
 	{
@@ -197,8 +191,8 @@ TEST(MatrixDualTest, Dual)
 
 	{
 		// max/min
-		EXPECT_TRUE(isEqualAll(b, max(a, b)));
-		EXPECT_TRUE(isEqualAll(a, min(a, b)));
+		EXPECT_EQ(b, max(a, b));
+		EXPECT_EQ(a, min(a, b));
 	}
 
 	{
@@ -248,7 +242,7 @@ TEST(MatrixDualTest, Dual)
 	{
 		// atan2
 		EXPECT_FLOAT_EQ(atan2(a, b).value, atan2(a.value, b.value));
-		EXPECT_TRUE(isEqualAll(atan2(a, Dual<float, 1>(b.value)), atan(a / b.value))); // atan2'(y, x) = atan'(y/x)
+		EXPECT_EQ(atan2(a, Dual<float, 1>(b.value)), atan(a / b.value)); // atan2'(y, x) = atan'(y/x)
 	}
 
 	{