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Matrix in Cholesky decomposition, Square-root Kalman and many bug fixes

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1\section{mixpp File List}
2Here is a list of all documented files with brief descriptions:\begin{CompactList}
3\item\contentsline{section}{work/mixpp/bdm/\textbf{itpp\_\-ext.h} }{\pageref{itpp__ext_8h}}{}
4\item\contentsline{section}{work/mixpp/bdm/estim/{\bf libKF.h} (Bayesian Filtering for linear Gaussian models (\doxyref{Kalman}{p.}{classKalman} Filter) and extensions )}{\pageref{libKF_8h}}{}
5\item\contentsline{section}{work/mixpp/bdm/estim/{\bf libPF.h} (Bayesian Filtering using stochastic sampling (Particle Filters) )}{\pageref{libPF_8h}}{}
6\item\contentsline{section}{work/mixpp/bdm/math/{\bf chmat.h} (Matrices in decomposed forms (LDL', LU, UDU', etc) )}{\pageref{chmat_8h}}{}
7\item\contentsline{section}{work/mixpp/bdm/math/{\bf libDC.h} (Matrices in decomposed forms (LDL', LU, UDU', etc) )}{\pageref{libDC_8h}}{}
8\item\contentsline{section}{work/mixpp/bdm/stat/{\bf libBM.h} (Bayesian Models (bm) that use Bayes rule to learn from observations )}{\pageref{libBM_8h}}{}
9\item\contentsline{section}{work/mixpp/bdm/stat/{\bf libDS.h} (Common DataSources )}{\pageref{libDS_8h}}{}
10\item\contentsline{section}{work/mixpp/bdm/stat/{\bf libEF.h} (Probability distributions for Exponential Family models )}{\pageref{libEF_8h}}{}
11\item\contentsline{section}{work/mixpp/bdm/stat/\textbf{libFN.h} }{\pageref{libFN_8h}}{}
12\item\contentsline{section}{work/mixpp/tests/\textbf{pmsm.h} }{\pageref{pmsm_8h}}{}
13\end{CompactList}
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