A note on notation
… scalars (single numbers); normal/italic font
… vector, by default a column vector; bold font
… matrix, by default capital bold font
… arbitrary unit vector
… basis vector (1 at position , 0 elsewhere)
TODO: move the below to where they actually fit better
… random variables
… random vectors
… realization of random variable
… realization of random vector
… estimates or predictions
… set / space… function mapping from set to set
… function with argument and parameters