diff --git a/.gitignore b/.gitignore
index 5338acb9..40156f9d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -88,6 +88,7 @@ Thumbs.db
 # build directory #
 ###################
 build*/*
+Documentation/_build
 
 # IDE related files #
 #####################
diff --git a/documentation/Grid.pdf b/documentation/Grid.pdf
index 868c6db4..df3304eb 100644
Binary files a/documentation/Grid.pdf and b/documentation/Grid.pdf differ
diff --git a/documentation/manual.rst b/documentation/manual.rst
index d51f07c1..e545bdaf 100644
--- a/documentation/manual.rst
+++ b/documentation/manual.rst
@@ -1787,7 +1787,7 @@ Hdf5Writer     Hdf5Reader       HDF5
 
 Write interfaces, similar to the XML facilities in QDP++ are presented. However,
 the serialisation routines are automatically generated by the macro, and a virtual
-reader adn writer interface enables writing to any of a number of formats.
+reader and writer interface enables writing to any of a number of formats.
 
 **Example**::
 
@@ -1814,6 +1814,91 @@ reader adn writer interface enables writing to any of a number of formats.
    }
 
 
+Eigen tensor support -- added 2019H1
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The Serialisation library was expanded in 2019 to support de/serialisation of
+Eigen tensors. De/serialisation of existing types was not changed. Data files
+without Eigen tensors remain compatible with earlier versions of Grid and other readers.
+Conversely, data files containing serialised Eigen tensors is a breaking change.
+
+Eigen tensor serialisation support was added to BaseIO, which was modified to provide a Traits class
+to recognise Eigen tensors with elements that are either: primitive scalars (arithmetic and complex types);
+or Grid tensors.
+
+**Traits determining de/serialisable scalars**::
+
+  // Is this an Eigen tensor
+  template<typename T> struct is_tensor : std::integral_constant<bool,
+    std::is_base_of<Eigen::TensorBase<T, Eigen::ReadOnlyAccessors>, T>::value> {};
+  // Is this an Eigen tensor of a supported scalar
+  template<typename T, typename V = void> struct is_tensor_of_scalar : public std::false_type {};
+  template<typename T> struct is_tensor_of_scalar<T, typename std::enable_if<is_tensor<T>::value && is_scalar<typename T::Scalar>::value>::type> : public std::true_type {};
+  // Is this an Eigen tensor of a supported container
+  template<typename T, typename V = void> struct is_tensor_of_container : public std::false_type {};
+  template<typename T> struct is_tensor_of_container<T, typename std::enable_if<is_tensor<T>::value && isGridTensor<typename T::Scalar>::value>::type> : public std::true_type {};
+
+
+Eigen tensors are regular, multidimensional objects, and each Reader/Writer
+was extended to support this new datatype. Where the Eigen tensor contains
+a Grid tensor, the dimensions of the data written are the dimensions of the
+Eigen tensor plus the dimensions of the underlying Grid scalar. Dimensions
+of size 1 are preserved.
+
+**New Reader/Writer methods for multi-dimensional data**::
+
+  template <typename U>
+  void readMultiDim(const std::string &s, std::vector<U> &buf, std::vector<size_t> &dim);
+  template <typename U>
+  void writeMultiDim(const std::string &s, const std::vector<size_t> & Dimensions, const U * pDataRowMajor, size_t NumElements);
+
+
+On readback, the Eigen tensor rank must match the data being read, but the tensor
+dimensions will be resized if necessary. Resizing is not possible for Eigen::TensorMap<T>
+because these tensors use a buffer provided at construction, and this buffer cannot be changed.
+Deserialisation failures cause Grid to assert.
+
+
+HDF5 Optimisations -- added June 2021
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Grid serialisation is intended to be light, deterministic and provide a layer of abstraction over
+multiple file formats. HDF5 excels at handling multi-dimensional data, and the Grid HDF5Reader/HDF5Writer exploits this.
+When serialising nested ``std::vector<T>``, where ``T`` is an arithmetic or complex type,
+the Hdf5Writer writes the data as an Hdf5 DataSet object.
+
+However, nested ``std::vector<std::vector<...T>>`` might be "ragged", i.e. not necessarily regular. E.g. a 3d nested
+``std::vector`` might contain 2 rows, the first being a 2x2 block and the second row being a 1 x 2 block.
+A bug existed whereby this was not checked on write, so nested, ragged vectors
+were written as a regular dataset, with a buffer under/overrun and jumbled contents.
+
+Clearly this was not used in production, as the bug went undetected until now. Fixing this bug
+is an opportunity to further optimise the HDF5 file format.
+
+The goals of this change are to:
+
+* Make changes to the Hdf5 file format only -- i.e. do not impact other file formats
+
+* Implement file format changes in such a way that they are transparent to the Grid reader
+
+* Correct the bug for ragged vectors of numeric / complex types
+
+* Extend the support of nested std::vector<T> to arbitrarily nested Grid tensors
+
+
+The trait class ``element`` has been redefined to ``is_flattenable``, which is a trait class for
+potentially "flattenable" objects. These are (possibly nested) ``std::vector<T>`` where ``T`` is
+an arithmetic, complex or Grid tensor type. Flattenable objects are tested on write
+(with the function ``isRegularShape``) to see whether they actually are regular.
+
+Flattenable, regular objects are written to a multidimensional HDF5 DataSet.
+Otherwise, an Hdf5 sub group is created with the object "name", and each element of the outer dimension is
+recursively written to as object "name_n", where n is a 0-indexed number.
+
+On readback (by Grid)), the presence of a subgroup containing the attribute ``Grid_vector_size`` triggers a
+"ragged read", otherwise a read from a DataSet is attempted.
+
+
 Data parallel field IO
 -----------------------