Index: /doc/xml/codingrules_8dox.xml
===================================================================
--- /doc/xml/codingrules_8dox.xml (revision 187)
+++ /doc/xml/codingrules_8dox.xml (revision 187)
@@ -0,0 +1,14 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="codingrules_8dox" kind="file">
+    <compoundname>codingrules.dox</compoundname>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/doc/local/codingrules.dox"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/itload_8m.xml
===================================================================
--- /doc/xml/itload_8m.xml (revision 187)
+++ /doc/xml/itload_8m.xml (revision 187)
@@ -0,0 +1,1028 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="itload_8m" kind="file">
+    <compoundname>itload.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="itload_8m_1b65c7fe980b1820a993d2b7e16b8eed4" prot="public" static="no" mutable="no">
+        <type>File</type>
+        <definition>File __pad0__</definition>
+        <argsstring></argsstring>
+        <name>__pad0__</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="12" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="12" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_135942df23446001bffa02ceb0df99dac" prot="public" static="no" mutable="no">
+        <type>File signal</type>
+        <definition>File signal speech processing</definition>
+        <argsstring></argsstring>
+        <name>processing</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="12" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="12" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1f2e4dfefec07c708c5ac8574c56da537" prot="public" static="no" mutable="no">
+        <type>you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software</type>
+        <definition>if write to the Free Software Foundation</definition>
+        <argsstring></argsstring>
+        <name>Foundation</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="19" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1355539e51bed3008068dfe985e226ab8" prot="public" static="no" mutable="no">
+        <type>either version of the</type>
+        <definition>either version of the License</definition>
+        <argsstring></argsstring>
+        <name>License</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="19" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_101d4ec73d916d67d085f3e63d1fdbd4b" prot="public" static="no" mutable="no">
+        <type>either version of the but WITHOUT ANY</type>
+        <definition>either version of the but WITHOUT ANY WARRANTY</definition>
+        <argsstring></argsstring>
+        <name>WARRANTY</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="23" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1d1fcf7d480c2fceaa3fc2635af62b648" prot="public" static="no" mutable="no">
+        <type>without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this</type>
+        <definition>without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program</definition>
+        <argsstring></argsstring>
+        <name>program</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="28" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1e6cf43db481de26465fb7c527d5d985f" prot="public" static="no" mutable="no">
+        <type>if</type>
+        <definition>if not</definition>
+        <argsstring></argsstring>
+        <name>not</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="28" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1905b4a7c11572b0a44b1a053ce673c5d" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software</type>
+        <definition>if write to the Free Software Inc</definition>
+        <argsstring></argsstring>
+        <name>Inc</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="29" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1fe1a6e4154d81acb571f8aab6721aea4" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software Franklin</type>
+        <definition>if write to the Free Software Franklin St</definition>
+        <argsstring></argsstring>
+        <name>St</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="29" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1d2b5073b95842f7a6ed83d3aeec19bbe" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software Franklin Fifth</type>
+        <definition>if write to the Free Software Franklin Fifth Floor</definition>
+        <argsstring></argsstring>
+        <name>Floor</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="29" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_18325b5643fb5a8089993e30526606acc" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software Franklin Fifth</type>
+        <definition>if write to the Free Software Franklin Fifth Boston</definition>
+        <argsstring></argsstring>
+        <name>Boston</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="29" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1c55ae9738f28b58c98604f554f4b8b11" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>file_size</definition>
+        <argsstring></argsstring>
+        <name>file_size</name>
+        <initializer> ftell(fid)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="46" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_118ea8b88e8b970dd85ac948679e3c8e4" prot="public" static="no" mutable="no">
+        <type>Save current file</type>
+        <definition>Save current file position[d1, n]</definition>
+        <argsstring>[d1, n]</argsstring>
+        <name>position</name>
+        <initializer> fread(fid, 3, &apos;uint64&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="62" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_18935b42ba605bbeaad128ad5fa82eee7" prot="public" static="no" mutable="no">
+        <type>Read</type>
+        <definition>Read header</definition>
+        <argsstring></argsstring>
+        <name>header</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="62" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_15181c9d9cdc6c152f2667bc48f10e9aa" prot="public" static="no" mutable="no">
+        <type>Read</type>
+        <definition>Read data</definition>
+        <argsstring></argsstring>
+        <name>data</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="62" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_176e5b42883a6e501a61dc724cfea3415" prot="public" static="no" mutable="no">
+        <type>Read and total block sizes</type>
+        <definition>Read and total block sizes name</definition>
+        <argsstring></argsstring>
+        <name>name</name>
+        <initializer> fgetstr(fid)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="63" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="63" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1fc42994d4846a3cb9b8f6313ad64f8bd" prot="public" static="no" mutable="no">
+        <type>Read current variable name</type>
+        <definition>Read current variable name type</definition>
+        <argsstring></argsstring>
+        <name>type</name>
+        <initializer> fgetstr(fid)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="64" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="64" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1f461350a71b9a4efb2c247fe76ff15bc" prot="public" static="no" mutable="no">
+        <type>Skip header bytes</type>
+        <definition>Skip header bytes bin[d, n]</definition>
+        <argsstring>[d, n]</argsstring>
+        <name>bin</name>
+        <initializer> fread(fid, 1, &apos;char&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="71" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="71" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_11aabac6d068eef6a7bad3fdf50a05cc8" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>d</definition>
+        <argsstring></argsstring>
+        <name>d</name>
+        <initializer> complex(d(1), d(2))</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="96" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="96" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_193f3b3a6fbdcff7b129cdb53f5967692" prot="public" static="no" mutable="no">
+        <type>clear</type>
+        <definition>clear d2</definition>
+        <argsstring></argsstring>
+        <name>d2</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="227" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="227" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_16f6ccfcf58b31cb6412107d9d5281426" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for i</definition>
+        <argsstring></argsstring>
+        <name>i</name>
+        <initializer>1:size</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="228" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="228" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1ef19135f6cdda6c7e8db8fe4c3bc0727" prot="public" static="no" mutable="no">
+        <type>function</type>
+        <definition>end str</definition>
+        <argsstring></argsstring>
+        <name>str</name>
+        <initializer> fgetstr(fid)
+<ref refid="classstr" kindref="compound">str</ref> = &apos;&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="354" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="353" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itload_8m_1a52645c0ee282a748dee9b026b638478" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>x n</definition>
+        <argsstring></argsstring>
+        <name>n</name>
+        <initializer> fread(fid, 1, &apos;char&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="356" bodyfile="/home/smidl/work/git/mixpp/matlab/itload.m" bodystart="356" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="itload_8m_1c5b64a5297d833a71228f3d0c59b7ca2" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>File signal speech and communications classes and functions</type>
+        <definition>File signal speech and communications classes and functions Copyright</definition>
+        <argsstring>(C) 1995-2007(see AUTHORS file for a list of contributors)%%This program is free software</argsstring>
+        <name>Copyright</name>
+        <param>
+          <type>C</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="17"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_158781a13256e170574b13bb2170e928e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>either version of the</type>
+        <definition>either version of the or</definition>
+        <argsstring>(at your option) any later version.%%This program is distributed in the hope that it will be useful</argsstring>
+        <name>or</name>
+        <param>
+          <type>at your</type>
+          <declname>option</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="22"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1cb426ff82d56e709b269741516ed14d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>fname, &apos;rb&apos;, &apos;ieee-le&apos;</type>
+        <definition>fname, &apos;rb&apos;, &apos;ieee-le&apos; fopen</definition>
+        <argsstring>()</argsstring>
+        <name>fopen</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="35"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1e5e1e77bb97e802458981c40f0db9399" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>if</definition>
+        <argsstring>(fid==-1) fname</argsstring>
+        <name>if</name>
+        <param>
+          <type>fid</type>
+          <defval>=-1</defval>
+        </param>
+        <initializer> fopen(fname, &apos;rb&apos;, &apos;ieee-le&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="37"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1e1e9a75ad43f3288d099133a41297da5" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end end Check file size</type>
+        <definition>end end Check file size fseek</definition>
+        <argsstring>(fid, 0, &apos;eof&apos;)</argsstring>
+        <name>fseek</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>0</type>
+        </param>
+        <param>
+          <type> &apos;eof&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="45"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1d48212bcdc133767da68649be3fe7c8b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fseek</definition>
+        <argsstring>(fid, 0, &apos;bof&apos;)</argsstring>
+        <name>fseek</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>0</type>
+        </param>
+        <param>
+          <type> &apos;bof&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="47"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_118d518cdb47ba90847873ef6170f73f1" prot="public" static="yes" const="no" explicit="no" inline="no" virt="virtual">
+        <type>fid, 5, &apos;char&apos;</type>
+        <definition>fid uint64 fread</definition>
+        <argsstring>()</argsstring>
+        <name>fread</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="50"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1e70270d56e6fbd234ec91f2eceb66233" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>if</definition>
+        <argsstring>(n~=5|d(1:4)~=[73 84 43 43]&apos;) error(&apos;Not an IT++file!&apos;)</argsstring>
+        <name>if</name>
+        <param>
+          <type>n~</type>
+          <defval>5|d(1:4)~=[73 84 43 43]&apos;</defval>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="52"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1dd18b4acb82c2de040788031e8e275b3" prot="public" static="yes" const="no" explicit="no" inline="no" virt="virtual">
+        <type>&apos;Only IT++file version 3 is supported by this function!&apos;</type>
+        <definition>&apos;Only IT++ file version 3 is supported by this function!&apos; error</definition>
+        <argsstring>()</argsstring>
+        <name>error</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="57"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_129e7b1fe56629d910ade8ac16451d44b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>while</definition>
+        <argsstring>(1) p</argsstring>
+        <name>while</name>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="61"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_15c8290c3de17e9f645ea9859be033827" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>Read current variable type</type>
+        <definition>Read current variable type fseek</definition>
+        <argsstring>(fid, p+d1(1), &apos;bof&apos;)</argsstring>
+        <name>fseek</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>p+</type>
+          <declname>d1</declname>
+          <array>1</array>
+        </param>
+        <param>
+          <type> &apos;bof&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="65"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1c49320e73596e17170195df159a8ad55" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>Skip header bytes</type>
+        <definition>Skip header bytes if</definition>
+        <argsstring>(length(type)==0)%A deleted entry-&gt; skip it%---bin---elseif(strcmp(type</argsstring>
+        <name>if</name>
+        <param>
+          <type>length(type)</type>
+          <defval>=0</defval>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="70"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1bc7ce5ca730fcd80c45a2f8afad17962" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>assignin</definition>
+        <argsstring>(&apos;caller&apos;, name, d)</argsstring>
+        <name>assignin</name>
+        <param>
+          <type>&apos;caller&apos;</type>
+        </param>
+        <param>
+          <type>name</type>
+        </param>
+        <param>
+          <type>d</type>
+        </param>
+        <initializer> fread(fid, size, &apos;char&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="72"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1759b115a50007735577056f7c549ac44" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end assignin</definition>
+        <argsstring>(&apos;caller&apos;, name, d2)</argsstring>
+        <name>assignin</name>
+        <param>
+          <type>&apos;caller&apos;</type>
+        </param>
+        <param>
+          <type>name</type>
+        </param>
+        <param>
+          <type>d2</type>
+        </param>
+        <initializer> fread(fid, 1, &apos;uint64&apos;) fread(fid, size2, &apos;int16&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="233"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1f19fa7ec08bfec6d85166aa0173466c5" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>[&apos;Not supported type: &apos;type]</type>
+        <definition>[&apos;Not supported type: &apos; type] warning</definition>
+        <argsstring>()</argsstring>
+        <name>warning</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="338"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_174d4d8e4fddc8aec384b3e35aed9dce0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end if</definition>
+        <argsstring>(p+d1(3) &gt;=file_size) break</argsstring>
+        <name>if</name>
+        <param>
+          <type>p+d1(3) &gt;=</type>
+          <declname>file_size</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="342"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_15e502ea76bac357133e8685b8aa3e0dd" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>else</type>
+        <definition>else fseek</definition>
+        <argsstring>(fid, p+d1(3), &apos;bof&apos;)</argsstring>
+        <name>fseek</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>p+</type>
+          <declname>d1</declname>
+          <array>3</array>
+        </param>
+        <param>
+          <type> &apos;bof&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="344"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_1c1c641b9fd0cf5478fbffe3739e6d689" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end end</type>
+        <definition>end end fclose</definition>
+        <argsstring>(fid)</argsstring>
+        <name>fclose</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="349"/>
+      </memberdef>
+      <memberdef kind="function" id="itload_8m_19ead01a6e10f06d11f3a3b5bf5664834" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>if</definition>
+        <argsstring>(d==0) break</argsstring>
+        <name>if</name>
+        <param>
+          <type>d</type>
+          <defval>=0</defval>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itload.m" line="358"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">%<sp/>File:<sp/><sp/><sp/>itload.m</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">%<sp/>Brief:<sp/><sp/>Load<sp/>an<sp/>IT++<sp/>itfile<sp/>content<sp/>to<sp/>Matlab/Octave<sp/>workspace</highlight></codeline>
+<codeline lineno="3"><highlight class="normal">%<sp/>Author:<sp/>Tony<sp/>Ottosson<sp/>and<sp/>Adam<sp/>Piatyszek</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="5"><highlight class="normal">%<sp/>Usage:<sp/>itload(&quot;fname.it&quot;)</highlight></codeline>
+<codeline lineno="6"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="7"><highlight class="normal">%<sp/>This<sp/>functions<sp/>loads<sp/>all<sp/>variables<sp/>from<sp/>an<sp/>IT++<sp/>file<sp/>format<sp/>to<sp/>the</highlight></codeline>
+<codeline lineno="8"><highlight class="normal">%<sp/>Matlab/Octave<sp/>workspace.</highlight></codeline>
+<codeline lineno="9"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="10"><highlight class="normal">%<sp/>-------------------------------------------------------------------------</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="12"><highlight class="normal">%<sp/>IT++<sp/>-<sp/>C++<sp/>library<sp/>of<sp/>mathematical,<sp/>signal<sp/>processing,<sp/>speech<sp/>processing,</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">%<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>and<sp/>communications<sp/>classes<sp/>and<sp/>functions</highlight></codeline>
+<codeline lineno="14"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="15"><highlight class="normal">%<sp/>Copyright<sp/>(C)<sp/>1995-2007<sp/><sp/>(see<sp/>AUTHORS<sp/>file<sp/>for<sp/>a<sp/>list<sp/>of<sp/>contributors)</highlight></codeline>
+<codeline lineno="16"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="17"><highlight class="normal">%<sp/>This<sp/>program<sp/>is<sp/>free<sp/>software;<sp/>you<sp/>can<sp/>redistribute<sp/>it<sp/>and/or<sp/>modify</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">%<sp/>it<sp/>under<sp/>the<sp/>terms<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>as<sp/>published<sp/>by</highlight></codeline>
+<codeline lineno="19"><highlight class="normal">%<sp/>the<sp/>Free<sp/>Software<sp/>Foundation;<sp/>either<sp/>version<sp/>2<sp/>of<sp/>the<sp/>License,<sp/>or</highlight></codeline>
+<codeline lineno="20"><highlight class="normal">%<sp/>(at<sp/>your<sp/>option)<sp/>any<sp/>later<sp/>version.</highlight></codeline>
+<codeline lineno="21"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="22"><highlight class="normal">%<sp/>This<sp/>program<sp/>is<sp/>distributed<sp/>in<sp/>the<sp/>hope<sp/>that<sp/>it<sp/>will<sp/>be<sp/>useful,</highlight></codeline>
+<codeline lineno="23"><highlight class="normal">%<sp/>but<sp/>WITHOUT<sp/>ANY<sp/>WARRANTY;<sp/>without<sp/>even<sp/>the<sp/>implied<sp/>warranty<sp/>of</highlight></codeline>
+<codeline lineno="24"><highlight class="normal">%<sp/>MERCHANTABILITY<sp/>or<sp/>FITNESS<sp/>FOR<sp/>A<sp/>PARTICULAR<sp/>PURPOSE.<sp/><sp/>See<sp/>the</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">%<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>more<sp/>details.</highlight></codeline>
+<codeline lineno="26"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="27"><highlight class="normal">%<sp/>You<sp/>should<sp/>have<sp/>received<sp/>a<sp/>copy<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">%<sp/>along<sp/>with<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>program;<sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>not,<sp/>write<sp/>to<sp/>the<sp/>Free<sp/>Software</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">%<sp/>Foundation,<sp/>Inc.,<sp/>51<sp/>Franklin<sp/>St,<sp/>Fifth<sp/>Floor,<sp/>Boston,<sp/>MA<sp/>02110-1301<sp/>USA</highlight></codeline>
+<codeline lineno="30"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">%<sp/>-------------------------------------------------------------------------</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal">function<sp/>itload(fname)</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal">[fid,<sp/>err_msg]<sp/>=<sp/>fopen(fname,<sp/></highlight><highlight class="stringliteral">&apos;rb&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;ieee-le&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fid<sp/>==<sp/>-1)</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/>fname<sp/>=<sp/>;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/>[fid,<sp/>err_msg2]<sp/>=<sp/>fopen(fname,<sp/></highlight><highlight class="stringliteral">&apos;rb&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;ieee-le&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fid<sp/>==<sp/>-1)</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/>error(err_msg);</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/>end</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal">%<sp/>Check<sp/>file<sp/>size</highlight></codeline>
+<codeline lineno="45"><highlight class="normal">fseek(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;eof&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal">file_size<sp/>=<sp/>ftell(fid);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">fseek(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;bof&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal">%<sp/>Read<sp/></highlight><highlight class="stringliteral">&quot;IT++&quot;</highlight><highlight class="normal"><sp/>magic<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal">[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>5,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(n<sp/>~=<sp/>5<sp/>|<sp/>d(1:4)<sp/>~=<sp/>[73<sp/>84<sp/>43<sp/>43]</highlight><highlight class="stringliteral">&apos;)</highlight></codeline>
+<codeline lineno="52"><highlight class="stringliteral"><sp/><sp/>error(&apos;</highlight><highlight class="normal">Not<sp/>an<sp/>IT++<sp/>file!</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="53"><highlight class="stringliteral">end</highlight></codeline>
+<codeline lineno="54"><highlight class="stringliteral"></highlight></codeline>
+<codeline lineno="55"><highlight class="stringliteral">%<sp/>Check<sp/>the<sp/>IT++<sp/>file<sp/>version</highlight></codeline>
+<codeline lineno="56"><highlight class="stringliteral">if<sp/>(d(5)<sp/>~=<sp/>3)</highlight></codeline>
+<codeline lineno="57"><highlight class="stringliteral"><sp/><sp/>error(&apos;</highlight><highlight class="normal">Only<sp/>IT++<sp/>file<sp/>version<sp/>3<sp/>is<sp/>supported<sp/>by<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>function!</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="58"><highlight class="stringliteral">end</highlight></codeline>
+<codeline lineno="59"><highlight class="stringliteral"></highlight></codeline>
+<codeline lineno="60"><highlight class="stringliteral">while<sp/>(1)</highlight></codeline>
+<codeline lineno="61"><highlight class="stringliteral"><sp/><sp/>p<sp/>=<sp/>ftell(fid);<sp/>%<sp/>Save<sp/>current<sp/>file<sp/>position</highlight></codeline>
+<codeline lineno="62"><highlight class="stringliteral"><sp/><sp/>[d1,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>3,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);<sp/>%<sp/>Read<sp/>header,<sp/>data,<sp/>and<sp/>total<sp/>block<sp/>sizes</highlight></codeline>
+<codeline lineno="63"><highlight class="stringliteral"><sp/><sp/>name<sp/>=<sp/>fgetstr(fid);<sp/>%<sp/>Read<sp/>current<sp/>variable<sp/>name</highlight></codeline>
+<codeline lineno="64"><highlight class="stringliteral"><sp/><sp/>type<sp/>=<sp/>fgetstr(fid);<sp/>%<sp/>Read<sp/>current<sp/>variable<sp/>type</highlight></codeline>
+<codeline lineno="65"><highlight class="stringliteral"><sp/><sp/>fseek(fid,<sp/>p+d1(1),<sp/>&apos;</highlight><highlight class="normal">bof</highlight><highlight class="stringliteral">&apos;);<sp/>%<sp/>Skip<sp/>header<sp/>bytes</highlight></codeline>
+<codeline lineno="66"><highlight class="stringliteral"></highlight></codeline>
+<codeline lineno="67"><highlight class="stringliteral"><sp/><sp/>if<sp/>(length(type)<sp/>==<sp/>0)<sp/>%<sp/>A<sp/>deleted<sp/>entry<sp/>-&gt;<sp/>skip<sp/>it</highlight></codeline>
+<codeline lineno="68"><highlight class="stringliteral"></highlight></codeline>
+<codeline lineno="69"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>bin<sp/>---</highlight></codeline>
+<codeline lineno="70"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">bin</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="71"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="keywordtype">char</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="72"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="73"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>int8<sp/>(char)<sp/>---</highlight></codeline>
+<codeline lineno="74"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">int8</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="75"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">int8</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="76"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="77"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>int16<sp/>(short)<sp/>---</highlight></codeline>
+<codeline lineno="78"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">int16</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="79"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">int16</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="80"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="81"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>int32<sp/>(int)<sp/>---</highlight></codeline>
+<codeline lineno="82"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">int32</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="83"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">int32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="84"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="85"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>float32<sp/>(float)<sp/>---</highlight></codeline>
+<codeline lineno="86"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">float32</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="87"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">float32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="88"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="89"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>float64<sp/>(double)<sp/>---</highlight></codeline>
+<codeline lineno="90"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">float64</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="91"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">float64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="92"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="93"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>cfloat32<sp/>(complex&lt;float&gt;)<sp/>---</highlight></codeline>
+<codeline lineno="94"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">cfloat32</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="95"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;</highlight><highlight class="normal">float32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="96"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>complex(d(1),<sp/>d(2));</highlight></codeline>
+<codeline lineno="97"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="98"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>cfloat64<sp/>(complex&lt;double&gt;)<sp/>---</highlight></codeline>
+<codeline lineno="99"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">cfloat64</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="100"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;</highlight><highlight class="normal">float64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="101"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>complex(d(1),<sp/>d(2));</highlight></codeline>
+<codeline lineno="102"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="103"><highlight class="stringliteral"></highlight></codeline>
+<codeline lineno="104"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>bvec<sp/>---</highlight></codeline>
+<codeline lineno="105"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">bvec</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="106"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="107"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/>&apos;</highlight><highlight class="keywordtype">char</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="108"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="109"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>svec<sp/>---</highlight></codeline>
+<codeline lineno="110"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">svec</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="111"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="112"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/>&apos;</highlight><highlight class="normal">int16</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="113"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="114"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>ivec<sp/>---</highlight></codeline>
+<codeline lineno="115"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">ivec</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="116"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="117"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/>&apos;</highlight><highlight class="normal">int32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="118"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="119"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>fvec<sp/>---</highlight></codeline>
+<codeline lineno="120"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">fvec</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="121"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="122"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/>&apos;</highlight><highlight class="normal">float32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="123"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="124"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>dvec<sp/>---</highlight></codeline>
+<codeline lineno="125"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">dvec</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="126"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="127"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/>&apos;</highlight><highlight class="normal">float64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="128"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="129"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>fcvec<sp/>---</highlight></codeline>
+<codeline lineno="130"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">fcvec</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="131"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="132"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size*2,<sp/>&apos;</highlight><highlight class="normal">float32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="133"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>complex(d(1:2:end),<sp/>d(2:2:end));</highlight></codeline>
+<codeline lineno="134"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="135"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>dcvec<sp/>---</highlight></codeline>
+<codeline lineno="136"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">dcvec</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="137"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="138"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size*2,<sp/>&apos;</highlight><highlight class="normal">float64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="139"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>complex(d(1:2:end),<sp/>d(2:2:end));</highlight></codeline>
+<codeline lineno="140"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="141"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>string<sp/>---</highlight></codeline>
+<codeline lineno="142"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="keywordtype">string</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="143"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="144"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/>&apos;</highlight><highlight class="keywordtype">char</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="145"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>char(d);</highlight></codeline>
+<codeline lineno="146"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="147"><highlight class="stringliteral"></highlight></codeline>
+<codeline lineno="148"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>bmat<sp/>---</highlight></codeline>
+<codeline lineno="149"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">bmat</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="150"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="151"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>smat<sp/>---</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;smat&apos;))</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size</highlight><highlight class="stringliteral">&apos;,<sp/>&apos;</highlight><highlight class="normal">int16</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="157"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="158"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>imat<sp/>---</highlight></codeline>
+<codeline lineno="159"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">imat</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="160"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="161"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;int32&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>fmat<sp/>---</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;fmat&apos;))</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size</highlight><highlight class="stringliteral">&apos;,<sp/>&apos;</highlight><highlight class="normal">float32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="167"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="168"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>dmat<sp/>---</highlight></codeline>
+<codeline lineno="169"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">dmat</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="170"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="171"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>fcmat<sp/>---</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;fcmat&apos;))</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size(1)*size(2)*2,<sp/></highlight><highlight class="stringliteral">&apos;float32&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>reshape(complex(d(1:2:end),<sp/>d(2:2:end)),<sp/>size(1),<sp/>size(2));</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>dcmat<sp/>---</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;dcmat&apos;))</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size(1)*size(2)*2,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>reshape(complex(d(1:2:end),<sp/>d(2:2:end)),<sp/>size(1),<sp/>size(2));</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"></highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>bArray<sp/>---</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;bArray&apos;))</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>sArray<sp/>---</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;sArray&apos;))</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/></highlight><highlight class="stringliteral">&apos;int16&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>iArray<sp/>---</highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;iArray&apos;))</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/></highlight><highlight class="stringliteral">&apos;int32&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>fArray<sp/>---</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;fArray&apos;))</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/></highlight><highlight class="stringliteral">&apos;float32&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>dArray<sp/>---</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;dArray&apos;))</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>fcArray<sp/>---</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;fcArray&apos;))</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size*2,<sp/></highlight><highlight class="stringliteral">&apos;float32&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>complex(d(1:2:end),<sp/>d(2:2:end));</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>dcArray<sp/>---</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;dcArray&apos;))</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size*2,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/>d<sp/>=<sp/>complex(d(1:2:end),<sp/>d(2:2:end));</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d);</highlight></codeline>
+<codeline lineno="223"><highlight class="normal"></highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>bvecArray<sp/>---</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;bvecArray&apos;))</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>svecArray<sp/>---</highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;svecArray&apos;))</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2,<sp/></highlight><highlight class="stringliteral">&apos;int16&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>ivecArray<sp/>---</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;ivecArray&apos;))</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2,<sp/></highlight><highlight class="stringliteral">&apos;int32&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>vecArray<sp/>---</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;vecArray&apos;))</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>cvecArray<sp/>---</highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;cvecArray&apos;))</highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size*2,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>complex(d(1:2:end),<sp/>d(2:2:end));</highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>stringArray<sp/>---</highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;stringArray&apos;))</highlight></codeline>
+<codeline lineno="276"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="277"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="281"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>char(d);</highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="283"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="284"><highlight class="normal"></highlight></codeline>
+<codeline lineno="285"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>bmatArray<sp/>---</highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;bmatArray&apos;))</highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="288"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2</highlight><highlight class="stringliteral">&apos;,<sp/>&apos;</highlight><highlight class="keywordtype">char</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="292"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="293"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="294"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="295"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>smatArray<sp/>---</highlight></codeline>
+<codeline lineno="296"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">smatArray</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="297"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="298"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="299"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>for<sp/>i=1:size;</highlight></codeline>
+<codeline lineno="300"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="301"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;int16&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="302"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="304"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>imatArray<sp/>---</highlight></codeline>
+<codeline lineno="306"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;imatArray&apos;))</highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="308"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="309"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="310"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="311"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2</highlight><highlight class="stringliteral">&apos;,<sp/>&apos;</highlight><highlight class="normal">int32</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="312"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="313"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="314"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>assignin(&apos;</highlight><highlight class="normal">caller</highlight><highlight class="stringliteral">&apos;,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="315"><highlight class="stringliteral"><sp/><sp/>%<sp/>---<sp/>matArray<sp/>---</highlight></codeline>
+<codeline lineno="316"><highlight class="stringliteral"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;</highlight><highlight class="normal">matArray</highlight><highlight class="stringliteral">&apos;))</highlight></codeline>
+<codeline lineno="317"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="318"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="319"><highlight class="stringliteral"><sp/><sp/><sp/><sp/>for<sp/>i=1:size;</highlight></codeline>
+<codeline lineno="320"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/>&apos;</highlight><highlight class="normal">uint64</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="321"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="322"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>d;</highlight></codeline>
+<codeline lineno="323"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="324"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="325"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>cmatArray<sp/>---</highlight></codeline>
+<codeline lineno="326"><highlight class="normal"><sp/><sp/>elseif<sp/>(strcmp(type,<sp/>&apos;cmatArray&apos;))</highlight></codeline>
+<codeline lineno="327"><highlight class="normal"><sp/><sp/><sp/><sp/>[size,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="328"><highlight class="normal"><sp/><sp/><sp/><sp/>clear<sp/>d2;</highlight></codeline>
+<codeline lineno="329"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size;</highlight></codeline>
+<codeline lineno="330"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[size2,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>2,<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="331"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>size2(1)*size2(2)*2,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="332"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>d2{i}<sp/>=<sp/>reshape(complex(d(1:2:end),<sp/>d(2:2:end)),<sp/>size2(1),<sp/>size2(2));</highlight></codeline>
+<codeline lineno="333"><highlight class="normal"><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="334"><highlight class="normal"><sp/><sp/><sp/><sp/>assignin(</highlight><highlight class="stringliteral">&apos;caller&apos;</highlight><highlight class="normal">,<sp/>name,<sp/>d2);</highlight></codeline>
+<codeline lineno="335"><highlight class="normal"></highlight></codeline>
+<codeline lineno="336"><highlight class="normal"><sp/><sp/>%<sp/>---<sp/>else<sp/>---</highlight></codeline>
+<codeline lineno="337"><highlight class="normal"><sp/><sp/>else</highlight></codeline>
+<codeline lineno="338"><highlight class="normal"><sp/><sp/><sp/><sp/>warning([&apos;Not<sp/>supported<sp/>type:<sp/>&apos;<sp/>type]);</highlight></codeline>
+<codeline lineno="339"><highlight class="normal"><sp/><sp/>end</highlight></codeline>
+<codeline lineno="340"><highlight class="normal"></highlight></codeline>
+<codeline lineno="341"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(p<sp/>+<sp/>d1(3)<sp/>&gt;=<sp/>file_size)</highlight></codeline>
+<codeline lineno="342"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="343"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="344"><highlight class="normal"><sp/><sp/><sp/><sp/>fseek(fid,<sp/>p+d1(3),<sp/></highlight><highlight class="stringliteral">&apos;bof&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="345"><highlight class="normal"><sp/><sp/>end</highlight></codeline>
+<codeline lineno="346"><highlight class="normal"></highlight></codeline>
+<codeline lineno="347"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="348"><highlight class="normal"></highlight></codeline>
+<codeline lineno="349"><highlight class="normal">fclose(fid);</highlight></codeline>
+<codeline lineno="350"><highlight class="normal"></highlight></codeline>
+<codeline lineno="351"><highlight class="normal"></highlight></codeline>
+<codeline lineno="352"><highlight class="normal"></highlight></codeline>
+<codeline lineno="353"><highlight class="normal">function<sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>=<sp/>fgetstr(fid)</highlight></codeline>
+<codeline lineno="354"><highlight class="normal">str<sp/>=<sp/>&apos;&apos;;</highlight></codeline>
+<codeline lineno="355"><highlight class="normal">while<sp/>(1)</highlight></codeline>
+<codeline lineno="356"><highlight class="normal"><sp/><sp/>[d,<sp/>n]<sp/>=<sp/>fread(fid,<sp/>1,<sp/>&apos;</highlight><highlight class="keywordtype">char</highlight><highlight class="normal">&apos;);</highlight></codeline>
+<codeline lineno="357"><highlight class="normal"><sp/><sp/>if<sp/>(d<sp/>==<sp/>0)</highlight></codeline>
+<codeline lineno="358"><highlight class="normal"><sp/><sp/><sp/><sp/>break;</highlight></codeline>
+<codeline lineno="359"><highlight class="normal"><sp/><sp/>end</highlight></codeline>
+<codeline lineno="360"><highlight class="normal"><sp/><sp/>str<sp/>=<sp/>[str<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">(d)];</highlight></codeline>
+<codeline lineno="361"><highlight class="normal">end</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/itload.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/demo__example_2data_2kresli__ladeni_8m.xml
===================================================================
--- /doc/xml/demo__example_2data_2kresli__ladeni_8m.xml (revision 187)
+++ /doc/xml/demo__example_2data_2kresli__ladeni_8m.xml (revision 187)
@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="demo__example_2data_2kresli__ladeni_8m" kind="file">
+    <compoundname>kresli_ladeni.m</compoundname>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="demo__example_2data_2kresli__ladeni_8m_13f3fc921c8bf52b587725f3033134b1b" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>&apos;Isx&apos;</type>
+        <definition>&apos;Isx&apos; legend</definition>
+        <argsstring>()</argsstring>
+        <name>legend</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/data/kresli_ladeni.m" line="7"/>
+      </memberdef>
+      <memberdef kind="function" id="demo__example_2data_2kresli__ladeni_8m_1e7198ad2253bbdb9e3f1230cab72743d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>figure plot(graf1(:, 1), graf1(:, 4))%Isd hold on plot(graf1(figure plot(graf1(:, 1), graf1(:, 6))%Isq hold on plot(graf1(figure plot(graf1(:, 1), graf1(:, 8))%M hold on plot(graf1(figure plot(graf1(:, 1), graf1(:, 9))%Fs hold on plot(graf1(figure</type>
+        <definition>figure plot (graf1(:,1),graf1(:,4)) % Isd hold on plot(graf1( figure plot (graf1(:,1),graf1(:,6)) % Isq hold on plot(graf1( figure plot (graf1(:,1),graf1(:,8)) % M hold on plot(graf1( figure plot (graf1(:,1),graf1(:,9)) % Fs hold on plot(graf1( figure plot</definition>
+        <argsstring>(graf1(:, 1), graf1(:, 10))%Poloha title(&apos;Poloha theta elektricka&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>graf1(:, 1)</type>
+        </param>
+        <param>
+          <type>graf1(:, 10)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/data/kresli_ladeni.m" line="35"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">load<sp/>graf1.txt<sp/>-ascii</highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">plot(graf1(:,1),graf1(:,2))<sp/><sp/><sp/><sp/><sp/>%<sp/>Isx</highlight></codeline>
+<codeline lineno="5"><highlight class="normal">%<sp/>hold<sp/>on</highlight></codeline>
+<codeline lineno="6"><highlight class="normal">%<sp/>plot(graf1(:,1),graf1(:,3),&apos;r&apos;)</highlight></codeline>
+<codeline lineno="7"><highlight class="normal">legend(&apos;Isx&apos;);</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="10"><highlight class="normal">plot(graf1(:,1),graf1(:,4))<sp/><sp/><sp/><sp/><sp/>%<sp/>Isd</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="12"><highlight class="normal">plot(graf1(:,1),graf1(:,5),</highlight><highlight class="charliteral">&apos;r&apos;</highlight><highlight class="normal">)<sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="13"><highlight class="normal">legend(&apos;Isd&apos;,&apos;Isdw&apos;);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="16"><highlight class="normal">plot(graf1(:,1),graf1(:,6))<sp/><sp/><sp/><sp/><sp/>%<sp/>Isq</highlight></codeline>
+<codeline lineno="17"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">plot(graf1(:,1),graf1(:,7),&apos;r&apos;)<sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="19"><highlight class="normal">legend(&apos;Isq&apos;,&apos;Isqw&apos;);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="22"><highlight class="normal">plot(graf1(:,1),graf1(:,8))<sp/><sp/><sp/><sp/><sp/>%<sp/>M</highlight></codeline>
+<codeline lineno="23"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="24"><highlight class="normal">plot(graf1(:,1),graf1(:,16),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/>%<sp/>M_model</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">legend(&apos;Moment&apos;,&apos;Moment<sp/>model&apos;);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">plot(graf1(:,1),graf1(:,9))<sp/><sp/><sp/><sp/><sp/>%<sp/>Fs</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="30"><highlight class="normal">plot(graf1(:,1),graf1(:,15),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/>%<sp/>Fs_model</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">legend(&apos;Fs&apos;,&apos;Fs<sp/>model&apos;);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="34"><highlight class="normal">plot(graf1(:,1),graf1(:,10))<sp/><sp/><sp/><sp/><sp/>%<sp/>Poloha</highlight></codeline>
+<codeline lineno="35"><highlight class="normal">title(&apos;Poloha<sp/>theta<sp/>elektricka&apos;);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="38"><highlight class="normal">plot(graf1(:,1),graf1(:,11)/(2*pi))<sp/><sp/><sp/><sp/><sp/>%<sp/>fme</highlight></codeline>
+<codeline lineno="39"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="40"><highlight class="normal">plot(graf1(:,1),graf1(:,12)/(2*pi),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="41"><highlight class="normal">legend(&apos;fme&apos;,&apos;fmew&apos;);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="44"><highlight class="normal">plot(graf1(:,1),graf1(:,13))<sp/><sp/><sp/><sp/><sp/>%<sp/>Urm</highlight></codeline>
+<codeline lineno="45"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="46"><highlight class="normal">plot(graf1(:,1),graf1(:,14),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="47"><highlight class="normal">legend(&apos;Urm&apos;,&apos;Urm<sp/>max&apos;);</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/data/kresli_ladeni.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/mainpage_8dox.xml
===================================================================
--- /doc/xml/mainpage_8dox.xml (revision 187)
+++ /doc/xml/mainpage_8dox.xml (revision 187)
@@ -0,0 +1,14 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="mainpage_8dox" kind="file">
+    <compoundname>mainpage.dox</compoundname>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/doc/local/mainpage.dox"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/chmat__test_8cpp.xml
===================================================================
--- /doc/xml/chmat__test_8cpp.xml (revision 187)
+++ /doc/xml/chmat__test_8cpp.xml (revision 187)
@@ -0,0 +1,117 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="chmat__test_8cpp" kind="file">
+    <compoundname>chmat_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="chmat_8h" local="no">math/chmat.h</includes>
+    <incdepgraph>
+      <node id="822">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="819" relation="include">
+        </childnode>
+      </node>
+      <node id="818">
+        <label>work/git/mixpp/tests/chmat_test.cpp</label>
+        <link refid="chmat_test.cpp"/>
+        <childnode refid="819" relation="include">
+        </childnode>
+        <childnode refid="820" relation="include">
+        </childnode>
+      </node>
+      <node id="819">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="820">
+        <label>math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="819" relation="include">
+        </childnode>
+        <childnode refid="821" relation="include">
+        </childnode>
+        <childnode refid="822" relation="include">
+        </childnode>
+      </node>
+      <node id="821">
+        <label>libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="819" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="chmat__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/chmat_test.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/tests/chmat_test.cpp" bodystart="10" bodyend="52"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="chmat_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">math/chmat.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A0<sp/>=<sp/>randu(3,3);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A<sp/>=<sp/>A0*A0.T();</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>constructor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Ch(A);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Testing<sp/>constructors:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Ch.to_mat()<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Ch.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>inversion</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>iCh(3);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ch.inv(iCh);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;inv(A)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>inv(A)<sp/>&lt;&lt;endl</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;inv(Ch).to_mat()<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>iCh.to_mat()<sp/>&lt;&lt;endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>logdet</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;logdet(A)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>log(det(A))<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;logdet(Ch)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Ch.logdet()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>add</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Ch2(Ch);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/>Ch2.add(Ch);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A+A<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A+A<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;Ch2.add(Ch)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Ch2.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>v=randu(3);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>qform</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;vAv&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v*(A*v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;qform(Ch,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Ch.qform(v)<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>invqform</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;v<sp/>inv(A)v&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v*(inv(A)*v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;invqform(Ch,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Ch.invqform(v)<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>opupdate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/>Ch2=Ch;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/>Ch2.opupdt(v,1.0);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A+vv&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A+outer_product(v,v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;opupdt(Ch,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Ch2.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="52"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/chmat_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/chmat_8cpp.xml
===================================================================
--- /doc/xml/chmat_8cpp.xml (revision 187)
+++ /doc/xml/chmat_8cpp.xml (revision 187)
@@ -0,0 +1,96 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="chmat_8cpp" kind="file">
+    <compoundname>chmat.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="chmat_8h" local="yes">chmat.h</includes>
+    <incdepgraph>
+      <node id="283">
+        <label>work/git/mixpp/bdm/math/chmat.cpp</label>
+        <link refid="chmat.cpp"/>
+        <childnode refid="284" relation="include">
+        </childnode>
+        <childnode refid="285" relation="include">
+        </childnode>
+      </node>
+      <node id="287">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="284" relation="include">
+        </childnode>
+      </node>
+      <node id="284">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="285">
+        <label>chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="284" relation="include">
+        </childnode>
+        <childnode refid="286" relation="include">
+        </childnode>
+        <childnode refid="287" relation="include">
+        </childnode>
+      </node>
+      <node id="286">
+        <label>libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="284" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="chmat_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">chmat.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//using<sp/>std::endl;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="9" refid="classchmat_1bbc2d98d7455b1f38828907d442836bf" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_1bbc2d98d7455b1f38828907d442836bf" kindref="member">chmat::opupdt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//TODO<sp/>see<sp/>cholupdt<sp/>in<sp/>lhotse</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Z;</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>R;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V(1,v.length());</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>V.set_row(0,v*w);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z<sp/>=<sp/>concat_vertical<sp/>(<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>,V<sp/>);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>qr<sp/>(<sp/>Z,R<sp/>);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>=<sp/>R<sp/>(<sp/>0,<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>.rows()-1,<sp/>0,<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>.cols()-1<sp/>);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="19" refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" refkind="member"><highlight class="normal">mat<sp/><ref refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" kindref="member" tooltip="Conversion to full matrix.">chmat::to_mat</ref>()<sp/>{mat<sp/>F=<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>.T()<sp/>*<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>;</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>F;};</highlight></codeline>
+<codeline lineno="20" refid="classchmat_166f509f92b0ccf020e2a2a32566e0777" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_166f509f92b0ccf020e2a2a32566e0777" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">chmat::mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_166f509f92b0ccf020e2a2a32566e0777" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">chmat::mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;U<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="26" refid="classchmat_107f50d1332b901eee962e8b1913102f7" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_107f50d1332b901eee962e8b1913102f7" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">chmat::mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_107f50d1332b901eee962e8b1913102f7" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">chmat::mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;U<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="32" refid="classchmat_1b504ca818203b13e667cb3c503980382" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classchmat_1b504ca818203b13e667cb3c503980382" kindref="member" tooltip="Logarithm of a determinant.">chmat::logdet</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ldet=0.0;<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//sum<sp/>of<sp/>logs<sp/>of<sp/>(possibly<sp/>negative!)<sp/>diagonal<sp/>entries</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>.rows();i++<sp/>)<sp/>{ldet+=log<sp/>(<sp/>std::fabs<sp/>(<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>(<sp/>i,i<sp/>)<sp/>)<sp/>);}</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>2*ldet;<sp/></highlight><highlight class="comment">//compensate<sp/>for<sp/>Ch<sp/>being<sp/>sqrt()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="comment">//TODO<sp/>can<sp/>be<sp/>done<sp/>more<sp/>efficiently<sp/>using<sp/>BLAS,<sp/>see<sp/>triangular<sp/>matrices</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39" refid="classchmat_1b22aa239dbaca33e3fb93b4f674d7051" refkind="member"><highlight class="normal">vec<sp/><ref refid="classchmat_1b22aa239dbaca33e3fb93b4f674d7051" kindref="member" tooltip="Multiplies square root of  by vector .">chmat::sqrt_mult</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{vec<sp/>pom;<sp/>pom<sp/>=<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>*v;<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pom;};</highlight></codeline>
+<codeline lineno="40" refid="classchmat_16807737c7ffdb7041256b51db7592248" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classchmat_16807737c7ffdb7041256b51db7592248" kindref="member" tooltip="Evaluates quadratic form ;.">chmat::qform</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{vec<sp/>pom;<sp/>pom<sp/>=<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>*v;<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pom*pom;};</highlight></codeline>
+<codeline lineno="41" refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4" kindref="member" tooltip="Evaluates quadratic form ;.">chmat::invqform</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom(v.length());</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>forward_substitution(<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>.T(),v,pom);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pom*pom;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="46" refid="classchmat_1d0a995d312ecc11d3b43693f5e224ba9" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_1d0a995d312ecc11d3b43693f5e224ba9" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">chmat::clear</ref>()<sp/>{<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>.clear();};</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf__obj_8cpp.xml
===================================================================
--- /doc/xml/ekf__obj_8cpp.xml (revision 187)
+++ /doc/xml/ekf__obj_8cpp.xml (revision 187)
@@ -0,0 +1,311 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf__obj_8cpp" kind="file">
+    <compoundname>ekf_obj.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="ekf__obj_8h" local="yes">ekf_obj.h</includes>
+    <includes refid="simulator_8h" local="yes">../simulator.h</includes>
+    <incdepgraph>
+      <node id="725">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+      </node>
+      <node id="735">
+        <label>../simulator.h</label>
+        <link refid="simulator_8h-source"/>
+      </node>
+      <node id="728">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+      </node>
+      <node id="721">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp</label>
+        <link refid="ekf_obj.cpp"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+        <childnode refid="723" relation="include">
+        </childnode>
+        <childnode refid="730" relation="include">
+        </childnode>
+        <childnode refid="735" relation="include">
+        </childnode>
+      </node>
+      <node id="726">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+        <childnode refid="727" relation="include">
+        </childnode>
+        <childnode refid="725" relation="include">
+        </childnode>
+        <childnode refid="728" relation="include">
+        </childnode>
+      </node>
+      <node id="724">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+        <childnode refid="725" relation="include">
+        </childnode>
+      </node>
+      <node id="733">
+        <label>reference.h</label>
+        <link refid="reference_8h-source"/>
+      </node>
+      <node id="722">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="731">
+        <label>fixed.h</label>
+        <link refid="fixed_8h-source"/>
+      </node>
+      <node id="729">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+        <childnode refid="727" relation="include">
+        </childnode>
+        <childnode refid="728" relation="include">
+        </childnode>
+      </node>
+      <node id="723">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+        <childnode refid="724" relation="include">
+        </childnode>
+        <childnode refid="726" relation="include">
+        </childnode>
+        <childnode refid="729" relation="include">
+        </childnode>
+      </node>
+      <node id="727">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+      </node>
+      <node id="732">
+        <label>matrix.h</label>
+        <link refid="matrix_8h-source"/>
+      </node>
+      <node id="734">
+        <label>parametry_motoru.h</label>
+        <link refid="parametry__motoru_8h-source"/>
+      </node>
+      <node id="730">
+        <label>ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+        <childnode refid="722" relation="include">
+        </childnode>
+        <childnode refid="723" relation="include">
+        </childnode>
+        <childnode refid="731" relation="include">
+        </childnode>
+        <childnode refid="732" relation="include">
+        </childnode>
+        <childnode refid="733" relation="include">
+        </childnode>
+        <childnode refid="734" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ekf__obj_8cpp_120a104802ddcb544b8de3fe3e5e03253" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double minQ</definition>
+        <argsstring>(double Q)</argsstring>
+        <name>minQ</name>
+        <param>
+          <type>double</type>
+          <declname>Q</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" line="7" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="7" bodyend="7"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="ekf__obj_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">ekf_obj.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>minQ(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Q){</highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Q&gt;1.0){<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>1.0;}<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>Q;};};</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10" refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" refkind="member"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKFfixed::bayes</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt){</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ekf(dt(2),dt(3),dt(0),dt(1));</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xhat(4);<sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//UGLY<sp/>HACK!!!<sp/>reliance<sp/>on<sp/>a<sp/>predictor!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xhat(0)=zprevod(x_est[0],Qm)*Iref;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xhat(1)=zprevod(x_est[1],Qm)*Iref;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xhat(2)=zprevod(x_est[2],Qm)*Wref;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xhat(3)=zprevod(x_est[3],15);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>E.<ref refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" kindref="member" tooltip="access function">set_mu</ref>(xhat);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">BM::evalll</ref><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>enorm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xdif(x,4);</highlight><highlight class="comment">//first<sp/>4<sp/>of<sp/>x</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//UGLY<sp/>HACK!!!<sp/>reliance<sp/>on<sp/>a<sp/>predictor!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xdif(0)=x[0]-zprevod(x_pred[0],Qm)*Iref;</highlight></codeline>
+<codeline lineno="26"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xdif(1)=x[1]-zprevod(x_pred[1],Qm)*Iref;</highlight></codeline>
+<codeline lineno="27"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xdif(2)=x[2]-zprevod(x_pred[2],Qm)*Wref;</highlight></codeline>
+<codeline lineno="28"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xdif(3)=x[3]-zprevod(x_pred[3],15);*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xdif<sp/>-=xhat;<sp/></highlight><highlight class="comment">//(xdif=x-xhat)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Pfull(4,4);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal">*<sp/>Pp=Pfull._data();</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;16;i++){*(Pp++)<sp/>=<sp/>zprevod(P_est[i],15);}</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">BM::ll</ref><sp/>=<sp/>-0.5*<sp/>(<sp/>4<sp/>*<sp/>1.83787706640935<sp/>+log<sp/>(<sp/>det<sp/>(<sp/>Pfull<sp/>)<sp/>)<sp/>+xdif*<sp/>(<sp/>inv(Pfull)*xdif<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="38"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>EKFfixed::update_psi(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t_sin,t_cos,tmp;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>v<sp/>PC</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/>t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/>t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/>PSI[2]=((long)cB*t_sin)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/>tmp=((long)cH*x_est[2])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/>PSI[3]=((long)tmp*t_cos)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/>PSI[6]=-((long)cB*t_cos)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/>PSI[7]=((long)tmp*t_sin)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>EKFfixed::prediction(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*ux)</highlight></codeline>
+<codeline lineno="58"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t_sin,t_cos,<sp/>tmp;</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>v<sp/>PC</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/>t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/>t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/>tmp=((long)cB*x_est[2])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/>x_pred[0]=((long)cA*x_est[0]+(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal">)tmp*t_sin+(long)cC*ux[0])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/>x_pred[1]=((long)cA*x_est[1]-(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal">)tmp*t_cos+(long)cC*ux[1])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/>x_pred[2]=x_est[2];</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/>x_pred[3]=(((long)x_est[3]&lt;&lt;15)+(long)cG*x_est[2])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/>update_psi();</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/>mmult(PSI,P_est,temp15a,3,3,3);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>mtrans(PSI,temp15b,5,5);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/>mmultt(temp15a,PSI,P_pred,3,3,3);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/>maddD(P_pred,Q,3,3);</highlight></codeline>
+<codeline lineno="77"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>EKFfixed::correction(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="80"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Y_error[2];</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>temp30a[4];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[2,2]<sp/>-<sp/>temporary<sp/>matrix<sp/>for<sp/>inversion<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/>choice_P(P_pred,temp15a,3);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/>maddD(temp15a,R,1,1);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/>minv2(temp15a,temp30a);</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ry(0,0)=zprevod(temp15a[0],15);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ry(0,1)=zprevod(temp15a[1],15);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ry(1,0)=zprevod(temp15a[2],15);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ry(1,1)=zprevod(temp15a[3],15);</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/>mmultDr(P_pred,temp15a,3,3,1,1);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/>mmult1530(temp15a,temp30a,Kalm,3,1,1);</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>estimate<sp/>the<sp/>state<sp/>system<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/>choice_x(x_pred,<sp/>temp15a);</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/>msub(Y_mes,temp15a,Y_error,1,0);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/>mmult(Kalm,Y_error,temp15a,3,1,0);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/>madd(x_pred,temp15a,x_est,3,0);</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>of<sp/>covariances<sp/>-<sp/>version<sp/>without<sp/>MMULTDL()<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Version<sp/>with<sp/>MMULTDL()<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/>mmultDl(P_pred,temp15a,1,3,3,1);</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/>mmult(Kalm,temp15a,P_est,3,1,3);</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/>msub(P_pred,P_est,P_est,3,3);</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>END<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>EKFfixed::ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ux,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isxd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isyd)</highlight></codeline>
+<codeline lineno="114"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>napeti<sp/>v<sp/>systemu<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/>ukalm[0]=prevod(ux/Uref,Qm);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/>ukalm[1]=prevod(uy/Uref,Qm);</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>zadani<sp/>mereni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/>Y_mes[0]=prevod(isxd/Iref,Qm);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/>Y_mes[1]=prevod(isyd/Iref,Qm);</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/>prediction(ukalm);</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/>correction();</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>navrat<sp/>estimovanych<sp/>hodnot<sp/>regulatoru</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/>vec&amp;<sp/>mu<sp/>=<sp/>E.<ref refid="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" kindref="member" tooltip="returns a pointer to the internal mean value. Use with Care!">_mu</ref>();</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/>(mu)(0)=zprevod(x_est[0],Qm)*Iref;</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/>(mu)(1)=zprevod(x_est[1],Qm)*Iref;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/>(mu)(2)=zprevod(x_est[2],Qm)*Wref;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/>(mu)(3)=zprevod(x_est[3],15)*Thetaref;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>EKFfixed::init_ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Tv)</highlight></codeline>
+<codeline lineno="136"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Tuning<sp/>of<sp/>matrix<sp/>Q</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/>Q[0]=prevod(.01,15);<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>0.05</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/>Q[5]=Q[0];</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/>Q[10]=prevod(0.0001,15);<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1e-3</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/>Q[15]=prevod(0.0001,15);<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1e-3</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Tuning<sp/>of<sp/>matrix<sp/>R</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/>R[0]=prevod(0.05,15);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>0.05</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/>R[3]=R[0];</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Motor<sp/>model<sp/>parameters<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/>cA=prevod(1-Tv*Rs/Ls,15);</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/>cB=prevod(Tv*Wref*Fmag/Iref/Ls,15);</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/>cC=prevod(Tv/Ls/Iref*Uref,15);</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cD=prevod(1-Tv*Bf/J,15);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cE=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref,15);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cF=prevod(p*Tv*Mref/J/Wref,15);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/>cG=prevod(Tv*Wref*4/Thetaref,15);</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/>cH=prevod(Tv*Wref*Fmag/Iref/Ls*Thetaref,15);</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cI=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref*Thetaref);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>Init<sp/>matrix<sp/>PSI<sp/>with<sp/>permanently<sp/>constant<sp/>terms<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/>PSI[0]=cA;</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/>PSI[5]=PSI[0];</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/>PSI[10]=0x7FFF;</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/>PSI[14]=cG;</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/>PSI[15]=0x7FFF;</highlight></codeline>
+<codeline lineno="164"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/test__xsd__hello_8cxx.xml
===================================================================
--- /doc/xml/test__xsd__hello_8cxx.xml (revision 187)
+++ /doc/xml/test__xsd__hello_8cxx.xml (revision 187)
@@ -0,0 +1,130 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="test__xsd__hello_8cxx" kind="file">
+    <compoundname>test_xsd_hello.cxx</compoundname>
+    <includes local="no">string</includes>
+    <includes local="no">iostream</includes>
+    <includes local="yes">hello-pskel.hxx</includes>
+    <incdepgraph>
+      <node id="796">
+        <label>string</label>
+      </node>
+      <node id="798">
+        <label>hello-pskel.hxx</label>
+      </node>
+      <node id="797">
+        <label>iostream</label>
+      </node>
+      <node id="795">
+        <label>work/git/mixpp/tests/test_xsd_hello.cxx</label>
+        <link refid="test_xsd_hello.cxx"/>
+        <childnode refid="796" relation="include">
+        </childnode>
+        <childnode refid="797" relation="include">
+        </childnode>
+        <childnode refid="798" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innerclass refid="structhello__pimpl" prot="public">hello_pimpl</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="test__xsd__hello_8cxx_10ddf1224851353fc92bfbff6f499fa97" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>(int argc, char *argv[])</argsstring>
+        <name>main</name>
+        <param>
+          <type>int</type>
+          <declname>argc</declname>
+        </param>
+        <param>
+          <type>char *</type>
+          <declname>argv</declname>
+          <array>[]</array>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" line="32" bodyfile="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" bodystart="31" bodyend="68"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//<sp/>file<sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>examples/cxx/parser/hello/driver.cxx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//<sp/>author<sp/><sp/><sp/><sp/>:<sp/>Boris<sp/>Kolpackov<sp/>&lt;boris@codesynthesis.com&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//<sp/>copyright<sp/>:<sp/>not<sp/>copyrighted<sp/>-<sp/>public<sp/>domain</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;string&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;iostream&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;hello-pskel.hxx&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">std;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keyword">struct<sp/></highlight><highlight class="normal">hello_pimpl:<sp/>hello_pskel</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/>greeting<sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">&amp;<sp/>greeting)</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/>greeting_<sp/>=<sp/>greeting;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/>name<sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">&amp;<sp/>name)</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>greeting_<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;,<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>name<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;!&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>greeting_;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>argc,<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>argv[])</highlight></codeline>
+<codeline lineno="32"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(argc<sp/>!=<sp/>2)</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;usage:<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>argv[0]<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;<sp/>hello.xml&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>1;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">try</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Construct<sp/>the<sp/>parser.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/>xml_schema::string_pimpl<sp/>string_p;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/>hello_pimpl<sp/>hello_p;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/>hello_p.greeting_parser<sp/>(string_p);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/>hello_p.name_parser<sp/>(string_p);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Parse<sp/>the<sp/>XML<sp/>instance<sp/>document.<sp/>The<sp/>second<sp/>argument<sp/>to<sp/>the</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>document&apos;s<sp/>constructor<sp/>is<sp/>the<sp/>document&apos;s<sp/>root<sp/>element<sp/>name.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/>xml_schema::document<sp/>doc_p<sp/>(hello_p,<sp/></highlight><highlight class="stringliteral">&quot;hello&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/>hello_p.pre<sp/>();</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/>doc_p.parse<sp/>(argv[1]);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/>hello_p.post_hello<sp/>();</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">catch</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>xml_schema::exception&amp;<sp/>e)</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/>e<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>1;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">catch</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>std::ios_base::failure&amp;)</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/>argv[1]<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;:<sp/>unable<sp/>to<sp/>open<sp/>or<sp/>read<sp/>failure&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>1;</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="68"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/arx_8h.xml
===================================================================
--- /doc/xml/arx_8h.xml (revision 187)
+++ /doc/xml/arx_8h.xml (revision 187)
@@ -0,0 +1,123 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="arx_8h" kind="file">
+    <compoundname>arx.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libFN_8h" local="yes">../stat/libFN.h</includes>
+    <includes refid="libEF_8h" local="yes">../stat/libEF.h</includes>
+    <includedby refid="bdm_2estim_2arx_8cpp" local="yes">work/git/mixpp/bdm/estim/arx.cpp</includedby>
+    <includedby refid="matlab_2mex_2arx_8cpp" local="yes">work/git/mixpp/matlab/mex/arx.cpp</includedby>
+    <includedby refid="arx__c_8cpp" local="yes">work/git/mixpp/matlab/mex/arx_c.cpp</includedby>
+    <includedby refid="linefit_8cpp" local="yes">work/git/mixpp/matlab/mex/linefit.cpp</includedby>
+    <includedby refid="linefit2_8cpp" local="yes">work/git/mixpp/matlab/mex/linefit2.cpp</includedby>
+    <includedby refid="merg__pred_8cpp" local="no">work/git/mixpp/mpdm/merg_pred.cpp</includedby>
+    <includedby refid="sim__var__arx_8cpp" local="no">work/git/mixpp/pmsm/sim_var_arx.cpp</includedby>
+    <includedby refid="arx__test_8cpp" local="no">work/git/mixpp/tests/arx_test.cpp</includedby>
+    <incdepgraph>
+      <node id="207">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="205" relation="include">
+        </childnode>
+      </node>
+      <node id="210">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="205" relation="include">
+        </childnode>
+      </node>
+      <node id="208">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="205" relation="include">
+        </childnode>
+        <childnode refid="209" relation="include">
+        </childnode>
+        <childnode refid="207" relation="include">
+        </childnode>
+        <childnode refid="210" relation="include">
+        </childnode>
+      </node>
+      <node id="204">
+        <label>work/git/mixpp/bdm/estim/arx.h</label>
+        <link refid="arx.h"/>
+        <childnode refid="205" relation="include">
+        </childnode>
+        <childnode refid="206" relation="include">
+        </childnode>
+        <childnode refid="208" relation="include">
+        </childnode>
+      </node>
+      <node id="206">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="205" relation="include">
+        </childnode>
+        <childnode refid="207" relation="include">
+        </childnode>
+      </node>
+      <node id="205">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="209">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="205" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="211">
+        <label>work/git/mixpp/bdm/estim/arx.h</label>
+        <link refid="arx.h"/>
+        <childnode refid="212" relation="include">
+        </childnode>
+      </node>
+      <node id="212">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim__var__arx_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classARX" prot="public">ARX</innerclass>
+    <briefdescription>
+<para>Bayesian Filtering for generalized autoregressive (<ref refid="classARX" kindref="compound">ARX</ref>) model. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>AR_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>AR_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../stat/libFN.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../stat/libEF.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36" refid="classARX" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>{</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="39" refid="classARX_1691d023662beffa1dda611b416c0e27e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/><ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>;</highlight></codeline>
+<codeline lineno="41" refid="classARX_12291297861dd74ca0175a01f910a0ef7" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;<ref refid="classARX_12291297861dd74ca0175a01f910a0ef7" kindref="member" tooltip="cached value of est.V">V</ref>;</highlight></codeline>
+<codeline lineno="43" refid="classARX_1a4182c281098b2d86b62518a7493d9be" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;<ref refid="classARX_1a4182c281098b2d86b62518a7493d9be" kindref="member" tooltip="cached value of est.nu">nu</ref>;</highlight></codeline>
+<codeline lineno="45" refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" kindref="member" tooltip="forgetting factor">frg</ref>;</highlight></codeline>
+<codeline lineno="47" refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" kindref="member" tooltip="cached value of lognc() in the previous step (used in evaluation of ll )">last_lognc</ref>;</highlight></codeline>
+<codeline lineno="49" refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" kindref="member" tooltip="total likelihood">tll</ref>;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="52" refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" kindref="member" tooltip="Full constructor.">ARX</ref><sp/>(<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>,<sp/>mat<sp/>&amp;V0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;nu0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>frg0=1.0)<sp/>:<sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref>(rv),<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>(rv,V0,nu0),<sp/><ref refid="classARX_12291297861dd74ca0175a01f910a0ef7" kindref="member" tooltip="cached value of est.V">V</ref>(<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>._V()),<sp/><ref refid="classARX_1a4182c281098b2d86b62518a7493d9be" kindref="member" tooltip="cached value of est.nu">nu</ref>(<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>._nu()),<sp/><ref refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" kindref="member" tooltip="forgetting factor">frg</ref>(frg0){<ref refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" kindref="member" tooltip="cached value of lognc() in the previous step (used in evaluation of ll )">last_lognc</ref>=<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();<ref refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" kindref="member" tooltip="total likelihood">tll</ref>=0.0;};</highlight></codeline>
+<codeline lineno="54" refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" kindref="member" tooltip="Set sufficient statistics.">set_parameters</ref>(mat<sp/>&amp;V0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;nu0){<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_V</ref>()=V0;<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_108029c481ff95d24f093df0573879afe" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_nu</ref>()=nu0;<ref refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" kindref="member" tooltip="cached value of lognc() in the previous step (used in evaluation of ll )">last_lognc</ref>=<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();<ref refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" kindref="member" tooltip="total likelihood">tll</ref>=<ref refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" kindref="member" tooltip="cached value of lognc() in the previous step (used in evaluation of ll )">last_lognc</ref>;}</highlight></codeline>
+<codeline lineno="56" refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" kindref="member" tooltip="Returns sufficient statistics.">get_parameters</ref>(mat<sp/>&amp;V0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;nu0){V0=<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_V</ref>().<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>();<sp/>nu0=<ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_108029c481ff95d24f093df0573879afe" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_nu</ref>();}</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classARX_1ba82c956ca893826811aefe1e4af465d" kindref="member" tooltip="Here .">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="59" refid="classARX_19d8eff7a9df81786191a4c55b27e5b8a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/><ref refid="classARX_19d8eff7a9df81786191a4c55b27e5b8a" kindref="member" tooltip="Returns a pointer to the epdf representing posterior density on parameters. Use with...">_epdf</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>;}</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classARX_1130bb7336aac681ce14b027b8f1409fa" kindref="member" tooltip="Brute force structure estimation.">structure_est</ref>(<ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>Eg0);</highlight></codeline>
+<codeline lineno="63" refid="classARX_1b8827048ceec8999849e2ed15400cae7" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classARX_1b8827048ceec8999849e2ed15400cae7" kindref="member" tooltip="access function">_tll</ref>(){</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" kindref="member" tooltip="total likelihood">tll</ref>;}</highlight></codeline>
+<codeline lineno="64"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>AR_H</highlight></codeline>
+<codeline lineno="68"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/sim__var_8cpp.xml
===================================================================
--- /doc/xml/sim__var_8cpp.xml (revision 187)
+++ /doc/xml/sim__var_8cpp.xml (revision 187)
@@ -0,0 +1,314 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="sim__var_8cpp" kind="file">
+    <compoundname>sim_var.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="chmat_8h" local="no">math/chmat.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <includes refid="simulator_8h" local="yes">simulator.h</includes>
+    <includes refid="sim__profiles_8h" local="yes">sim_profiles.h</includes>
+    <includes refid="loggers_8h" local="no">stat/loggers.h</includes>
+    <incdepgraph>
+      <node id="666">
+        <label>sim_profiles.h</label>
+        <link refid="sim__profiles_8h-source"/>
+      </node>
+      <node id="667">
+        <label>stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+        <childnode refid="658" relation="include">
+        </childnode>
+        <childnode refid="662" relation="include">
+        </childnode>
+      </node>
+      <node id="658">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+      </node>
+      <node id="665">
+        <label>simulator.h</label>
+        <link refid="simulator_8h-source"/>
+      </node>
+      <node id="664">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="657" relation="include">
+        </childnode>
+      </node>
+      <node id="662">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+      </node>
+      <node id="660">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+        <childnode refid="661" relation="include">
+        </childnode>
+        <childnode refid="658" relation="include">
+        </childnode>
+        <childnode refid="662" relation="include">
+        </childnode>
+      </node>
+      <node id="657">
+        <label>stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+        <childnode refid="658" relation="include">
+        </childnode>
+      </node>
+      <node id="655">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim_var.cpp"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+        <childnode refid="657" relation="include">
+        </childnode>
+        <childnode refid="659" relation="include">
+        </childnode>
+        <childnode refid="663" relation="include">
+        </childnode>
+        <childnode refid="664" relation="include">
+        </childnode>
+        <childnode refid="665" relation="include">
+        </childnode>
+        <childnode refid="666" relation="include">
+        </childnode>
+        <childnode refid="667" relation="include">
+        </childnode>
+      </node>
+      <node id="656">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="663">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+        <childnode refid="661" relation="include">
+        </childnode>
+        <childnode refid="662" relation="include">
+        </childnode>
+      </node>
+      <node id="659">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+        <childnode refid="657" relation="include">
+        </childnode>
+        <childnode refid="660" relation="include">
+        </childnode>
+        <childnode refid="663" relation="include">
+        </childnode>
+      </node>
+      <node id="661">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="656" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> filter with unknown <computeroutput>Q</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/sim_var.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/sim_var.cpp" bodystart="28" bodyend="166"/>
+        <references refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" compoundref="libKF_8h" startline="188" endline="188">EKFfull::_epdf</references>
+        <references refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" compoundref="loggers_8h" startline="39" endline="45">logger::add</references>
+        <references refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</references>
+        <references refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" compoundref="pmsm_8h" startline="128" endline="133">OMpmsm::eval</references>
+        <references refid="classIMpmsm_145785869d978dda42828a072ec2caebe" compoundref="pmsm_8h" startline="25" endline="46">IMpmsm::eval</references>
+        <references refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" compoundref="loggers_8cpp" startline="128" endline="131">dirfilelog::finalize</references>
+        <references refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">dirfilelog::init</references>
+        <references refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" compoundref="loggers_8h" startline="88" endline="90">memlog::logit</references>
+        <references refid="classepdf_1bf0a070a8f3e67a93604ca724638b870">epdf::mean</references>
+        <references refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</references>
+        <references refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</references>
+        <references refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" compoundref="pmsm_8h" startline="23" endline="23">IMpmsm::set_parameters</references>
+        <references refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" compoundref="loggers_8cpp" startline="117" endline="126">dirfilelog::step</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Models for synchronous electric drive using IT++ and BDM. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="comment">//#include<sp/>&lt;estim/libPF.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="chmat_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">math/chmat.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;sim_profiles.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">stat/loggers.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28" refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>90000;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h<sp/>=<sp/>1e-6;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Nsimstep<sp/>=<sp/>125;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>L(</highlight><highlight class="stringliteral">&quot;exp/sim_var&quot;</highlight><highlight class="normal">,1000);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//memlog<sp/>L(Ndat);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>SET<sp/>SIMULATOR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_set_parameters<sp/>(<sp/>0.28,0.003465,0.1989,0.0,4,1.5,0.04,<sp/>200.,<sp/>3e-6,<sp/>h<sp/>);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dut<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dit<sp/>(2);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xtm=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xte=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xdif=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xt<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ddif=zeros(2);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>Nsimstep*h,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Qt=zeros<sp/>(<sp/>4,4<sp/>);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Rt=zeros<sp/>(<sp/>2,2<sp/>);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ESTIMATORS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0<sp/>0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;62<sp/>66<sp/>454<sp/>0.03&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;100<sp/>100&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>&quot;0.034<sp/>0.034&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Q<sp/>=diag(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>R<sp/>=diag<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>Efix<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Efix.<ref refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" kindref="member" tooltip="set estimates">set_est</ref><sp/>(<sp/>mu0,<sp/>1*eye<sp/>(<sp/>4<sp/>)<sp/><sp/>);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Efix.<ref refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>Eop<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eop.<ref refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" kindref="member" tooltip="set estimates">set_est</ref><sp/>(<sp/>mu0,<sp/>1*eye<sp/>(<sp/>4<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eop.<ref refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>Edi<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Edi.<ref refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" kindref="member" tooltip="set estimates">set_est</ref><sp/>(<sp/>mu0,<sp/>1*eye<sp/>(<sp/>4<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Edi.<ref refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Efix_ep<sp/>=<sp/>Efix.<ref refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" kindref="member" tooltip="dummy!">_epdf</ref>();</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Eop_ep<sp/>=<sp/>Eop.<ref refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" kindref="member" tooltip="dummy!">_epdf</ref>();</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Edi_ep<sp/>=<sp/>Edi.<ref refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" kindref="member" tooltip="dummy!">_epdf</ref>();</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//LOG</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ(<sp/></highlight><highlight class="stringliteral">&quot;{Q<sp/>}&quot;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&quot;16&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rR(<sp/></highlight><highlight class="stringliteral">&quot;{R<sp/>}&quot;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&quot;4&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rUD(<sp/></highlight><highlight class="stringliteral">&quot;{u_isa<sp/>u_isb<sp/>i_isa<sp/>i_isb<sp/>}&quot;</highlight><highlight class="normal">,<sp/>ones_i(4));</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rDu(</highlight><highlight class="stringliteral">&quot;{dux<sp/>duy<sp/>duxf<sp/>duyf<sp/>}&quot;</highlight><highlight class="normal">,ones_i(4));</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rDi(</highlight><highlight class="stringliteral">&quot;{disa<sp/>disb<sp/>}&quot;</highlight><highlight class="normal">,ones_i(2));</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>X_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rx,</highlight><highlight class="stringliteral">&quot;X&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Efix_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rx,</highlight><highlight class="stringliteral">&quot;XF&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Eop_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rx,</highlight><highlight class="stringliteral">&quot;XO&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Edi_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rx,</highlight><highlight class="stringliteral">&quot;XD&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Q_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rQ,</highlight><highlight class="stringliteral">&quot;Q&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>R_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rR,</highlight><highlight class="stringliteral">&quot;R&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rUD,</highlight><highlight class="stringliteral">&quot;D&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Du_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rDu,</highlight><highlight class="stringliteral">&quot;Du&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Di_log<sp/>=<sp/>L.<ref refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" kindref="member" tooltip="returns an identifier which will be later needed for calling the log() function">add</ref>(rDi,</highlight><highlight class="stringliteral">&quot;Di&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" kindref="member" tooltip="Initialize storage.">init</ref>();</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tK=1;tK&lt;Ndat;tK++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Number<sp/>of<sp/>steps<sp/>of<sp/>a<sp/>simulator<sp/>for<sp/>one<sp/>step<sp/>of<sp/>Kalman</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;<sp/>ii&lt;Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sim_profile_steps1<sp/>(<sp/>Ww<sp/>,<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_step<sp/>(<sp/>Ww<sp/>);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>simulation<sp/>via<sp/>deterministic<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[0];</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[1];</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[2];</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[3];</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[4];</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[5];</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dit<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[8];</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dit<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[9];</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xte<sp/>=<sp/>fxu.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/>xtm,ut<sp/>);</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Results:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>in<sp/>xt<sp/>we<sp/>have<sp/>simulation<sp/>according<sp/>to<sp/>the<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>in<sp/>x<sp/>we<sp/>have<sp/>&quot;reality&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xt<sp/>(<sp/>0<sp/>)<sp/>=x[0];xt<sp/>(<sp/>1<sp/>)<sp/>=x[1];xt<sp/>(<sp/>2<sp/>)<sp/>=x[2];xt<sp/>(<sp/>3<sp/>)<sp/>=x[3];</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xdif<sp/>=<sp/>xt-xte;<sp/></highlight><highlight class="comment">//xtm<sp/>is<sp/>a<sp/>copy<sp/>of<sp/>x[]</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(xdif(0)&gt;3.0){</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;here&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>xdif<sp/>(<sp/>3<sp/>)<sp/>&gt;pi<sp/>)<sp/>xdif<sp/>(<sp/>3<sp/>)-=2*pi;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>xdif<sp/>(<sp/>3<sp/>)<sp/>&lt;-pi<sp/>)<sp/>xdif<sp/>(<sp/>3<sp/>)<sp/>+=2*pi;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ddif<sp/>=<sp/>hxu.<ref refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" kindref="member" tooltip="Evaluates .">eval</ref>(xt,ut)<sp/>-<sp/>dit;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"></highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Rt<sp/>=<sp/>0.9*Rt<sp/>+<sp/>xdif^2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Qt*=0.1;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Qt<sp/>+=<sp/>10*outer_product<sp/>(<sp/>xdif,xdif<sp/>);<sp/></highlight><highlight class="comment">//(x-xt)^2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Qt(0,0)&gt;3.0){</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;here&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>For<sp/>future<sp/>ref.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtm<sp/>=<sp/>xt;</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rt*=0.1;</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rt<sp/>+=<sp/>10*outer_product<sp/>(<sp/>ddif,ddif<sp/>);<sp/>//(x-xt)^2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ESTIMATE</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Efix.<ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref>(concat(dt,ut));</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eop.<ref refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/>&amp;fxu,&amp;hxu,(Qt+1e-8*eye(4)),(Rt+1e-6*eye(2)));</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eop.<ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref>(concat(dt,ut));</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Edi.<ref refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/>&amp;fxu,&amp;hxu,(diag(diag(Qt))+1e-16*eye(4)),<sp/>(diag(diag(Rt))+1e-3*eye(2)));</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Edi.<ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref>(concat(dt,ut));</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//LOG</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(X_log,<sp/><sp/>vec(x,4));<sp/></highlight><highlight class="comment">//vec<sp/>from<sp/>C-array</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(Efix_log,<sp/>Efix_ep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(Eop_log,<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eop_ep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(Edi_log,<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Edi_ep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(Q_log,<sp/><sp/>vec(Qt._data(),16)<sp/>);<sp/></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(R_log,<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec(Rt._data(),4)<sp/>);<sp/></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(D_log,<sp/><sp/>vec(KalmanObs,4)<sp/>);<sp/></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(Du_log,<sp/>dut<sp/>);<sp/></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref>(Di_log,<sp/>dit<sp/>);<sp/></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" kindref="member" tooltip="Shifts storage position for another time step.">step</ref>();</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.<ref refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" kindref="member" tooltip="Finalize storing information.">finalize</ref>();</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//L.itsave(&quot;sim_var.it&quot;);<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="166"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/sim_var.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/userinfo_8h.xml
===================================================================
--- /doc/xml/userinfo_8h.xml (revision 187)
+++ /doc/xml/userinfo_8h.xml (revision 187)
@@ -0,0 +1,672 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="userinfo_8h" kind="file">
+    <compoundname>userinfo.h</compoundname>
+    <includes local="no">sstream</includes>
+    <includes local="no">iostream</includes>
+    <includes local="no">stdio.h</includes>
+    <includes local="no">string</includes>
+    <includes local="no">typeinfo</includes>
+    <includes local="no">map</includes>
+    <includes local="no">utility</includes>
+    <includes local="no">vector</includes>
+    <includes local="no">xercesc/dom/DOM.hpp</includes>
+    <includes local="no">xercesc/util/PlatformUtils.hpp</includes>
+    <includes local="no">xercesc/util/XMLString.hpp</includes>
+    <includes local="no">xercesc/framework/LocalFileFormatTarget.hpp</includes>
+    <includes local="no">xercesc/framework/LocalFileInputSource.hpp</includes>
+    <includes local="no">xercesc/dom/DOMWriter.hpp</includes>
+    <includes local="no">xercesc/parsers/XercesDOMParser.hpp</includes>
+    <includedby refid="userinfo_8cpp" local="yes">work/git/mixpp/bdm/userinfo.cpp</includedby>
+    <includedby refid="testUI_8cpp" local="yes">work/git/mixpp/tests/testUI.cpp</includedby>
+    <incdepgraph>
+      <node id="488">
+        <label>xercesc/framework/LocalFileInputSource.hpp</label>
+      </node>
+      <node id="486">
+        <label>xercesc/util/XMLString.hpp</label>
+      </node>
+      <node id="490">
+        <label>xercesc/parsers/XercesDOMParser.hpp</label>
+      </node>
+      <node id="479">
+        <label>string</label>
+      </node>
+      <node id="481">
+        <label>map</label>
+      </node>
+      <node id="475">
+        <label>work/git/mixpp/bdm/userinfo.h</label>
+        <link refid="userinfo.h"/>
+        <childnode refid="476" relation="include">
+        </childnode>
+        <childnode refid="477" relation="include">
+        </childnode>
+        <childnode refid="478" relation="include">
+        </childnode>
+        <childnode refid="479" relation="include">
+        </childnode>
+        <childnode refid="480" relation="include">
+        </childnode>
+        <childnode refid="481" relation="include">
+        </childnode>
+        <childnode refid="482" relation="include">
+        </childnode>
+        <childnode refid="483" relation="include">
+        </childnode>
+        <childnode refid="484" relation="include">
+        </childnode>
+        <childnode refid="485" relation="include">
+        </childnode>
+        <childnode refid="486" relation="include">
+        </childnode>
+        <childnode refid="487" relation="include">
+        </childnode>
+        <childnode refid="488" relation="include">
+        </childnode>
+        <childnode refid="489" relation="include">
+        </childnode>
+        <childnode refid="490" relation="include">
+        </childnode>
+      </node>
+      <node id="480">
+        <label>typeinfo</label>
+      </node>
+      <node id="483">
+        <label>vector</label>
+      </node>
+      <node id="482">
+        <label>utility</label>
+      </node>
+      <node id="476">
+        <label>sstream</label>
+      </node>
+      <node id="477">
+        <label>iostream</label>
+      </node>
+      <node id="489">
+        <label>xercesc/dom/DOMWriter.hpp</label>
+      </node>
+      <node id="487">
+        <label>xercesc/framework/LocalFileFormatTarget.hpp</label>
+      </node>
+      <node id="484">
+        <label>xercesc/dom/DOM.hpp</label>
+      </node>
+      <node id="485">
+        <label>xercesc/util/PlatformUtils.hpp</label>
+      </node>
+      <node id="478">
+        <label>stdio.h</label>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classAssertXercesIsAlive" prot="public">AssertXercesIsAlive</innerclass>
+    <innerclass refid="classAssertXercesIsAlive_1_1XercesConnector" prot="private">AssertXercesIsAlive::XercesConnector</innerclass>
+    <innerclass refid="classBindingFrame" prot="public">BindingFrame</innerclass>
+    <innerclass refid="classAttribute" prot="public">Attribute</innerclass>
+    <innerclass refid="classUserInfo" prot="public">UserInfo</innerclass>
+    <innerclass refid="classUserInfo_1_1StringToUIMap" prot="private">UserInfo::StringToUIMap</innerclass>
+    <innerclass refid="classTypedUserInfo" prot="public">TypedUserInfo</innerclass>
+    <innerclass refid="classCompoundUserInfo" prot="public">CompoundUserInfo</innerclass>
+    <innerclass refid="classCompoundUserInfo_1_1BindedElement" prot="protected">CompoundUserInfo::BindedElement</innerclass>
+    <innerclass refid="classValuedUserInfo" prot="public">ValuedUserInfo</innerclass>
+    <innerclass refid="classRootElement" prot="public">RootElement</innerclass>
+    <innerclass refid="classBoolUI" prot="public">BoolUI</innerclass>
+    <innerclass refid="classIntUI" prot="public">IntUI</innerclass>
+    <innerclass refid="classDoubleUI" prot="public">DoubleUI</innerclass>
+    <innerclass refid="classStringUI" prot="public">StringUI</innerclass>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#ifndef<sp/>UI_H</highlight></codeline>
+<codeline lineno="2"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>UI_H</highlight></codeline>
+<codeline lineno="3"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;sstream&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;iostream&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stdio.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;string&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;typeinfo&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;map&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;utility&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;vector&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xercesc/dom/DOM.hpp&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xercesc/util/PlatformUtils.hpp&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xercesc/util/XMLString.hpp&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;iostream&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xercesc/framework/LocalFileFormatTarget.hpp&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xercesc/framework/LocalFileInputSource.hpp&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xercesc/dom/DOMWriter.hpp&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xercesc/parsers/XercesDOMParser.hpp&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#ifdef<sp/>XERCES_CPP_NAMESPACE_USE</highlight></codeline>
+<codeline lineno="22"><highlight class="preprocessor"></highlight><highlight class="normal">XERCES_CPP_NAMESPACE_USE</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="24"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::string;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">std;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40" refid="classAssertXercesIsAlive" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classAssertXercesIsAlive" kindref="compound" tooltip="Class initializing Xerces library.">AssertXercesIsAlive</ref></highlight></codeline>
+<codeline lineno="41"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">XercesConnector</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XercesConnector()</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initialize<sp/>the<sp/>XML<sp/>library</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLPlatformUtils::Initialize();</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~XercesConnector()</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>terminate<sp/>the<sp/>XML<sp/>library</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLPlatformUtils::Terminate();</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>StayAlive()</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/>XercesConnector<sp/>xc;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="77" refid="classAssertXercesIsAlive_1dd36033ed31fe22022e7c56c7770101e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAssertXercesIsAlive_1dd36033ed31fe22022e7c56c7770101e" kindref="member" tooltip="default constructor">AssertXercesIsAlive</ref>()</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XercesConnector::StayAlive();</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="81"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86" refid="classBindingFrame" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classBindingFrame" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">BindingFrame</ref></highlight></codeline>
+<codeline lineno="87"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAssertXercesIsAlive" kindref="compound" tooltip="Class initializing Xerces library.">AssertXercesIsAlive</ref><sp/>dummy;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" kindref="member" tooltip="default constructor">BindingFrame</ref>();</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/><ref refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" kindref="member" tooltip="function which transcodes Xerces&amp;#39; XMLCh-based strings into C++ strings">XMLCh2str</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>XMLCh*<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>XMLCh_str<sp/>);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>removeSpaces(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;<ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref>)<sp/></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::string<sp/>temp;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;<sp/>i<sp/>&lt;<sp/>str.length();<sp/>i++)</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(str[i]<sp/>==<sp/></highlight><highlight class="charliteral">&apos;<sp/>&apos;</highlight><highlight class="normal">)<sp/>temp<sp/>+=<sp/></highlight><highlight class="charliteral">&apos;_&apos;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>temp<sp/>+=<sp/>str[i];</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>temp;</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:<sp/></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" kindref="member" tooltip="This method parse DOMElement, finds proper DOMNode and fills binded data accordingly...">AssemblyComponentsFromXML</ref>(<sp/>DOMElement<sp/>&amp;element<sp/>)<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight></codeline>
+<codeline lineno="115" refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" kindref="member" tooltip="A method for releasing memory allocated within the &amp;#39;AssemblyComponentsFromXML()&amp;#39;...">ReleaseMemory</ref>()<sp/>{}</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" kindref="member">DisassemblyComponentsToXML</ref>(<sp/>DOMElement<sp/>&amp;element<sp/>)<sp/>=<sp/>0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="120"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="125" refid="classAttribute" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref><sp/></highlight></codeline>
+<codeline lineno="126"><highlight class="normal">{<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAssertXercesIsAlive" kindref="compound" tooltip="Class initializing Xerces library.">AssertXercesIsAlive</ref><sp/>dummy;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>XMLCh*<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>transcodedAttributeName;</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAttribute_14c4c80e6b59e3356324ef02d0e92d813" kindref="member" tooltip="Default constructor fixing a name of the related attribute.">Attribute</ref>(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>attributeName<sp/>);</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~<ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref>();</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">&amp;<sp/><ref refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" kindref="member" tooltip="This method parse DOMElement, finds proper attribute and returns its value.">Get</ref>(<sp/>DOMElement<sp/>&amp;element<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" kindref="member" tooltip="This method adds the passed string as an new attribute into the passed DOMElement...">Set</ref>(<sp/>DOMElement<sp/>&amp;element,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;<ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight></codeline>
+<codeline lineno="149" refid="classAttribute_1d6474fd976f505e70e10c497199c6770" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref><sp/><ref refid="classAttribute_1d6474fd976f505e70e10c497199c6770" kindref="member" tooltip="Static member, an instance related to an attribute named &amp;#39;help&amp;#39;.">help</ref>;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight></codeline>
+<codeline lineno="152" refid="classAttribute_15f6cce980606fa8943857204aacb5478" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref><sp/><ref refid="classAttribute_15f6cce980606fa8943857204aacb5478" kindref="member" tooltip="Static member, a constant instance related to an attribute named &amp;#39;type&amp;#39;.">type</ref>;</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight></codeline>
+<codeline lineno="155" refid="classAttribute_1452441da4ebfda23cdc668943ffe8da7" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref><sp/><ref refid="classAttribute_1452441da4ebfda23cdc668943ffe8da7" kindref="member" tooltip="Static member, a constant instance related to the attribute named &amp;#39;value&amp;#39;...">value</ref>;</highlight></codeline>
+<codeline lineno="156"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"></highlight></codeline>
+<codeline lineno="167" refid="classUserInfo" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classUserInfo" kindref="compound" tooltip="UserInfo is an abstract is for internal purposes only. Use CompoundUserInfo&amp;lt;T&amp;gt;...">UserInfo</ref><sp/>:<sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal"><sp/><ref refid="classBindingFrame" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">BindingFrame</ref></highlight></codeline>
+<codeline lineno="168"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">typedef</highlight><highlight class="normal"><sp/><ref refid="classUserInfo" kindref="compound" tooltip="UserInfo is an abstract is for internal purposes only. Use CompoundUserInfo&amp;lt;T&amp;gt;...">UserInfo</ref>*<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>pUserInfo;</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">StringToUIMap</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">typedef</highlight><highlight class="normal"><sp/>map&lt;<sp/>const<sp/>string,<sp/>pUserInfo<sp/>&gt;<sp/>MappedString2UI;</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/>MappedString2UI&amp;<sp/>privateMap();</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"></highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>Add(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>key,<sp/>pUserInfo<sp/>pInstance<sp/>);</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"></highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/>pUserInfo<sp/>Retrieve(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>key<sp/>);</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal">*<sp/>AssemblyTypelessInstance()<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyTypelessInstance(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">*<sp/>pInstance)<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>userFriendlyTypeName;</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>typeNameByRTTI;</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight></codeline>
+<codeline lineno="209" refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" kindref="member" tooltip="default constructor">UserInfo</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">&amp;<sp/>userFriendlyTypeName,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">&amp;<sp/>typeNameByRTTI<sp/>)</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>userFriendlyTypeName<sp/>(<sp/>removeSpaces(<sp/>userFriendlyTypeName<sp/>)<sp/>),<sp/></highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>typeNameByRTTI(<sp/>typeNameByRTTI<sp/>)</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>StringToUIMap::Add(<sp/>userFriendlyTypeName,<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"></highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>userFriendlyTypeName<sp/>!=<sp/>typeNameByRTTI<sp/>)</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>we<sp/>have<sp/>a<sp/>common<sp/>map<sp/>for<sp/>both<sp/>groups<sp/>of<sp/>names,<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>therefore,<sp/>it<sp/>is<sp/>no<sp/>use<sp/>to<sp/>add<sp/>the<sp/>same<sp/>pair<sp/>again</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>StringToUIMap::Add(<sp/>typeNameByRTTI,<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"></highlight></codeline>
+<codeline lineno="221"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:<sp/></highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>T&gt;</highlight></codeline>
+<codeline lineno="226" refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/>T*<sp/><ref refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" kindref="member">Assembly</ref>(<sp/>DOMElement<sp/>&amp;element,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>tagName<sp/>)</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLCh*<sp/>transcodedTagName<sp/>=<sp/>XMLString::transcode(<sp/>tagName.c_str()<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::upperCase(<sp/>transcodedTagName<sp/>);</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"></highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMNodeList*<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>nodeList<sp/>=<sp/>element.getElementsByTagName(<sp/>transcodedTagName<sp/>);</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::release(<sp/>(XMLCh**)&amp;transcodedTagName<sp/>);</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>!nodeList<sp/>||<sp/>nodeList-&gt;getLength()<sp/>==<sp/>0<sp/>)</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Warning:<sp/>there<sp/>is<sp/>not<sp/>any<sp/>tag<sp/>named<sp/>&quot;</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>tagName<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="stringliteral">&quot;<sp/>in<sp/>the<sp/>passed<sp/>DOM<sp/>element<sp/>of<sp/>a<sp/>XML<sp/>docmument!&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>NULL;</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="238"><highlight class="normal"></highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>nodeList-&gt;getLength()<sp/>&gt;<sp/>1<sp/>)</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Warning:<sp/>there<sp/>is<sp/>to<sp/>many<sp/>elements<sp/>named<sp/>&quot;</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>tagName<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="stringliteral">&quot;<sp/>in<sp/>the<sp/>passed<sp/>DOM<sp/>element<sp/>of<sp/>a<sp/>XML<sp/>docmument.<sp/>But<sp/>the<sp/>tag<sp/>name<sp/>has<sp/>to<sp/>be<sp/>unique!&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>NULL;</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"></highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>this<sp/>time<sp/>we<sp/>hold<sp/>an<sp/>element<sp/>with<sp/>the<sp/>same<sp/>name<sp/>as<sp/>the<sp/>tagName<sp/>is</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMElement*<sp/>pTheOnlyElement<sp/>=<sp/>(DOMElement*)<sp/>nodeList-&gt;item(0);</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>we<sp/>get<sp/>a<sp/>velue<sp/>stored<sp/>in<sp/>the<sp/>&quot;type&quot;<sp/>attribute<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>userFriendlyTypeName<sp/>=<sp/><ref refid="classAttribute_15f6cce980606fa8943857204aacb5478" kindref="member" tooltip="Static member, a constant instance related to an attribute named &amp;#39;type&amp;#39;.">Attribute::type</ref>.<ref refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" kindref="member" tooltip="This method parse DOMElement, finds proper attribute and returns its value.">Get</ref>(<sp/>*pTheOnlyElement<sp/>);</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>and<sp/>finally<sp/>we<sp/>find<sp/>a<sp/>UserInfo<sp/>related<sp/>to<sp/>this<sp/>type</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pUserInfo<sp/>pRelatedUI<sp/>=<sp/>StringToUIMap::Retrieve(<sp/>userFriendlyTypeName<sp/>);</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>!pRelatedUI<sp/>)</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Warning:<sp/>there<sp/>is<sp/>not<sp/>any<sp/>UserInfo<sp/>related<sp/>to<sp/>type<sp/>named<sp/>&quot;</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>userFriendlyTypeName<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="stringliteral">&quot;,<sp/>instance<sp/>assembling<sp/>terminated!&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>NULL;</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"></highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>prepare<sp/>all<sp/>components<sp/>necessary<sp/>for<sp/>an<sp/>instance<sp/>assembling</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pRelatedUI-&gt;AssemblyComponentsFromXML(<sp/>*pTheOnlyElement<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="261"><highlight class="normal"></highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>instance<sp/>assembling<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal">*<sp/>pTypelessInstance<sp/>=<sp/>pRelatedUI-&gt;AssemblyTypelessInstance();</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"></highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>cleaning<sp/>up</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pRelatedUI-&gt;ReleaseMemory();</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"></highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>pTypelessInstance<sp/>==<sp/>NULL<sp/>)</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Warning:<sp/>there<sp/>was<sp/>some<sp/>error<sp/>when<sp/>parsing<sp/>a<sp/>XML<sp/>document,<sp/>instance<sp/>assembling<sp/>terminated!&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>NULL;</highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="273"><highlight class="normal"></highlight></codeline>
+<codeline lineno="274"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>T*<sp/>pInstance<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">try</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="276"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="277"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>a<sp/>&quot;do<sp/>it<sp/>yourself&quot;<sp/>type<sp/>check:)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pInstance<sp/>=<sp/>(T*)<sp/>pTypelessInstance;</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>resultingTypeNameByRTTI<sp/>=<sp/></highlight><highlight class="keyword">typeid</highlight><highlight class="normal">(<sp/>*pInstance<sp/>).name();</highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>resultingTypeNameByRTTI<sp/>!=<sp/>pRelatedUI-&gt;typeNameByRTTI<sp/>)</highlight></codeline>
+<codeline lineno="281"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pInstance<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="283"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">catch</highlight><highlight class="normal">(...)</highlight></codeline>
+<codeline lineno="284"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="285"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pInstance<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>pInstance<sp/>==<sp/>NULL<sp/>)</highlight></codeline>
+<codeline lineno="288"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cerr<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Warning:<sp/>UserInfo<sp/>related<sp/>to<sp/>type<sp/>&quot;</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>userFriendlyTypeName<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="stringliteral">&quot;<sp/>have<sp/>just<sp/>returned<sp/>instance<sp/>of<sp/>a<sp/>different<sp/>type!<sp/>Instance<sp/>assembling<sp/>terminated!&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="289"><highlight class="normal"></highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pInstance;</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="292"><highlight class="normal"></highlight></codeline>
+<codeline lineno="296"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>T&gt;</highlight></codeline>
+<codeline lineno="297" refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">Disassembly</ref>(<sp/>T&amp;<sp/>instance,<sp/>DOMElement<sp/>&amp;element,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>tagName,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>help)</highlight></codeline>
+<codeline lineno="298"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="299"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pUserInfo<sp/>pRelatedUI<sp/>=<sp/>StringToUIMap::Retrieve(<sp/></highlight><highlight class="keyword">typeid</highlight><highlight class="normal">(instance).name()<sp/>);</highlight></codeline>
+<codeline lineno="300"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>!pRelatedUI<sp/>)</highlight></codeline>
+<codeline lineno="301"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="302"><highlight class="normal"></highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>add<sp/>a<sp/>new<sp/>element<sp/>named<sp/>according<sp/>the<sp/>passed<sp/>tagName</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="304"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLCh*<sp/>transcodedTagName<sp/>=<sp/>XMLString::transcode(<sp/>tagName.c_str()<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::upperCase(<sp/>transcodedTagName<sp/>);</highlight></codeline>
+<codeline lineno="306"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMDocument*<sp/>pDoc<sp/>=<sp/>element.getOwnerDocument();</highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMElement*<sp/>pCreatedElement<sp/>=<sp/>pDoc-&gt;createElement(<sp/>transcodedTagName<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="308"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>element.appendChild(<sp/>pCreatedElement<sp/>);</highlight></codeline>
+<codeline lineno="309"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::release(<sp/>(XMLCh**)&amp;transcodedTagName<sp/>);</highlight></codeline>
+<codeline lineno="310"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="311"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>add<sp/>attributes<sp/>&quot;type&quot;<sp/>and<sp/>&quot;help&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="312"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAttribute_15f6cce980606fa8943857204aacb5478" kindref="member" tooltip="Static member, a constant instance related to an attribute named &amp;#39;type&amp;#39;.">Attribute::type</ref>.<ref refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" kindref="member" tooltip="This method adds the passed string as an new attribute into the passed DOMElement...">Set</ref>(<sp/>*pCreatedElement,<sp/>pRelatedUI-&gt;userFriendlyTypeName<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="313"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAttribute_1d6474fd976f505e70e10c497199c6770" kindref="member" tooltip="Static member, an instance related to an attribute named &amp;#39;help&amp;#39;.">Attribute::help</ref>.<ref refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" kindref="member" tooltip="This method adds the passed string as an new attribute into the passed DOMElement...">Set</ref>(<sp/>*pCreatedElement,<sp/>help<sp/>);</highlight></codeline>
+<codeline lineno="314"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="315"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>disassembly<sp/>instance<sp/>itself<sp/>into<sp/>its<sp/>components</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="316"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>result<sp/>=<sp/><sp/>pRelatedUI-&gt;DisassemblyTypelessInstance(<sp/>(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">*)<sp/>&amp;instance<sp/>);</highlight></codeline>
+<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>result<sp/>)</highlight></codeline>
+<codeline lineno="318"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>disassembly<sp/>all<sp/>components<sp/>of<sp/>an<sp/>instance<sp/><sp/><sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="319"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>result<sp/>=<sp/>pRelatedUI-&gt;DisassemblyComponentsToXML(<sp/>*pCreatedElement<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="320"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>result;</highlight></codeline>
+<codeline lineno="321"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="322"><highlight class="normal"></highlight></codeline>
+<codeline lineno="326"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>T&gt;</highlight></codeline>
+<codeline lineno="327" refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">Disassembly</ref>(<sp/>T<sp/>&amp;instance,<sp/>DOMElement<sp/>&amp;element,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>tagName<sp/>)</highlight></codeline>
+<codeline lineno="328"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="329"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">Disassembly</ref>(<sp/>instance,<sp/>element,<sp/>tagName,<sp/></highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="330"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="331"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="332"><highlight class="normal"></highlight></codeline>
+<codeline lineno="344" refid="classTypedUserInfo" refkind="compound"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">typename</highlight><highlight class="normal"><sp/>T&gt;<sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classUserInfo" kindref="compound" tooltip="UserInfo is an abstract is for internal purposes only. Use CompoundUserInfo&amp;lt;T&amp;gt;...">UserInfo</ref></highlight></codeline>
+<codeline lineno="345"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="346"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="347"><highlight class="normal"></highlight></codeline>
+<codeline lineno="348"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyTypelessInstance(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">*<sp/>pInstance)</highlight></codeline>
+<codeline lineno="349"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="350"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">try</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="351"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="352"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>DisassemblyInstance(<sp/>*(T*)<sp/>pInstance<sp/>);</highlight></codeline>
+<codeline lineno="353"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="354"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">catch</highlight><highlight class="normal"><sp/>(...)</highlight></codeline>
+<codeline lineno="355"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="356"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="357"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="358"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="359"><highlight class="normal"></highlight></codeline>
+<codeline lineno="360"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal">*<sp/>AssemblyTypelessInstance()</highlight></codeline>
+<codeline lineno="361"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="362"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">*)<sp/>AssemblyInstance(<sp/>);</highlight></codeline>
+<codeline lineno="363"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="364"><highlight class="normal"></highlight></codeline>
+<codeline lineno="366"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>T*<sp/>AssemblyInstance()<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="367"><highlight class="normal"></highlight></codeline>
+<codeline lineno="369"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyInstance(T&amp;<sp/><ref refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" kindref="member">instance</ref>)<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="370"><highlight class="normal"></highlight></codeline>
+<codeline lineno="371"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="372"><highlight class="normal"></highlight></codeline>
+<codeline lineno="374"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;T&gt;</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;userFriendlyTypeName)<sp/></highlight></codeline>
+<codeline lineno="375"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/><ref refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" kindref="member" tooltip="default constructor">UserInfo</ref>(<sp/>userFriendlyTypeName,<sp/></highlight><highlight class="keyword">typeid</highlight><highlight class="normal">(T).name()<sp/>)<sp/></highlight></codeline>
+<codeline lineno="376"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="377"><highlight class="normal"></highlight></codeline>
+<codeline lineno="378" refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="379"><highlight class="normal"></highlight></codeline>
+<codeline lineno="381"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~<ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;T&gt;</ref>()</highlight></codeline>
+<codeline lineno="382"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="383"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="384"><highlight class="normal"></highlight></codeline>
+<codeline lineno="387" refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;T&gt;</ref>&amp;<sp/>instance;</highlight></codeline>
+<codeline lineno="388"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="389"><highlight class="normal"></highlight></codeline>
+<codeline lineno="390"><highlight class="normal"></highlight></codeline>
+<codeline lineno="420" refid="classCompoundUserInfo" refkind="compound"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">typename</highlight><highlight class="normal"><sp/>T&gt;<sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo</ref>&lt;T&gt;</highlight></codeline>
+<codeline lineno="421"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="422"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="424"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vector&lt;BindingFrame*&gt;<sp/>bindedElements;</highlight></codeline>
+<codeline lineno="425"><highlight class="normal"></highlight></codeline>
+<codeline lineno="426"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="427"><highlight class="normal"></highlight></codeline>
+<codeline lineno="432" refid="classCompoundUserInfo_1_1BindedElement" refkind="compound"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">typename</highlight><highlight class="normal"><sp/>U&gt;<sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classCompoundUserInfo_1_1BindedElement" kindref="compound" tooltip="Templated class binding inner element with its XML tag and automating data transfers...">BindedElement</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBindingFrame" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">BindingFrame</ref></highlight></codeline>
+<codeline lineno="433"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="434"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="435"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>name;</highlight></codeline>
+<codeline lineno="436"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>help;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="437"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>release;</highlight></codeline>
+<codeline lineno="438"><highlight class="normal"></highlight></codeline>
+<codeline lineno="439"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>U*<sp/>pValue;</highlight></codeline>
+<codeline lineno="440"><highlight class="normal"></highlight></codeline>
+<codeline lineno="441"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>U<sp/>defaultValue;</highlight></codeline>
+<codeline lineno="442"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="443"><highlight class="normal"><sp/></highlight></codeline>
+<codeline lineno="444"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="445"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>U<sp/>value;</highlight></codeline>
+<codeline lineno="446"><highlight class="normal"></highlight></codeline>
+<codeline lineno="447"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classCompoundUserInfo_1_1BindedElement" kindref="compound" tooltip="Templated class binding inner element with its XML tag and automating data transfers...">BindedElement&lt;U&gt;</ref>(<sp/><ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo&lt;T&gt;</ref><sp/>*parent,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>name,<sp/>U<sp/>defaultValue,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>help<sp/>)<sp/></highlight></codeline>
+<codeline lineno="448"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>name(<sp/>removeSpaces(<sp/>name<sp/>)),<sp/>help(help),<sp/>defaultValue(<sp/>defaultValue<sp/>)</highlight></codeline>
+<codeline lineno="449"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="450"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>parent-&gt;bindedElements.push_back(<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="451"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pValue<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="452"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>value<sp/>=<sp/>defaultValue;</highlight></codeline>
+<codeline lineno="453"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="454"><highlight class="normal"></highlight></codeline>
+<codeline lineno="455"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classCompoundUserInfo_1_1BindedElement" kindref="compound" tooltip="Templated class binding inner element with its XML tag and automating data transfers...">BindedElement&lt;U&gt;</ref>(<sp/><ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo&lt;T&gt;</ref><sp/>*parent,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>name,<sp/>U<sp/>defaultValue<sp/>)<sp/></highlight></codeline>
+<codeline lineno="456"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>name(<sp/>removeSpaces(<sp/>name<sp/>)),<sp/>help(</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal">),<sp/>defaultValue(<sp/>defaultValue<sp/>),<sp/>value(<sp/>defaultValue)</highlight></codeline>
+<codeline lineno="457"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="458"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>parent-&gt;bindedElements.push_back(<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="459"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pValue<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="460"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>value<sp/>=<sp/>defaultValue;</highlight></codeline>
+<codeline lineno="461"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="462"><highlight class="normal"></highlight></codeline>
+<codeline lineno="463"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~<ref refid="classCompoundUserInfo_1_1BindedElement" kindref="compound" tooltip="Templated class binding inner element with its XML tag and automating data transfers...">BindedElement&lt;U&gt;</ref>()</highlight></codeline>
+<codeline lineno="464"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="465"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="466"><highlight class="normal"></highlight></codeline>
+<codeline lineno="467" refid="classCompoundUserInfo_1_1BindedElement_1159f56d7101091117dcdad68754bc195" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classCompoundUserInfo_1_1BindedElement_1159f56d7101091117dcdad68754bc195" kindref="member" tooltip="This method parse DOMElement, finds proper DOMNode and fills binded data accordingly...">AssemblyComponentsFromXML</ref>(<sp/>DOMElement<sp/>&amp;element<sp/>)</highlight></codeline>
+<codeline lineno="468"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="469"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pValue<sp/>=<sp/>UserInfo::Assembly&lt;U&gt;(<sp/>element,<sp/>name<sp/>);</highlight></codeline>
+<codeline lineno="470"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>pValue<sp/>)<sp/>value<sp/>=<sp/>*pValue;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="471"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="472"><highlight class="normal"></highlight></codeline>
+<codeline lineno="473" refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4" kindref="member" tooltip="A method for releasing memory allocated within the &amp;#39;AssemblyComponentsFromXML()&amp;#39;...">ReleaseMemory</ref>()</highlight></codeline>
+<codeline lineno="474"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="475"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>pValue<sp/>!=<sp/>NULL<sp/>)</highlight></codeline>
+<codeline lineno="476"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">delete</highlight><highlight class="normal"><sp/>pValue;</highlight></codeline>
+<codeline lineno="477"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="478"><highlight class="normal"></highlight></codeline>
+<codeline lineno="479" refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" kindref="member">DisassemblyComponentsToXML</ref>(<sp/>DOMElement<sp/>&amp;element<sp/>)</highlight></codeline>
+<codeline lineno="480"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="481"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">UserInfo::Disassembly</ref>(<sp/>value,<sp/>element,<sp/>name,<sp/>help<sp/>);</highlight></codeline>
+<codeline lineno="482"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="483"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="484"><highlight class="normal"></highlight></codeline>
+<codeline lineno="485"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="486"><highlight class="normal"></highlight></codeline>
+<codeline lineno="487"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>AssemblyComponentsFromXML(<sp/>DOMElement<sp/>&amp;element<sp/>)</highlight></codeline>
+<codeline lineno="488"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="489"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ind<sp/>=<sp/>0;<sp/>ind<sp/>&lt;<sp/>bindedElements.size();<sp/>ind++<sp/>)</highlight></codeline>
+<codeline lineno="490"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bindedElements[ind]-&gt;AssemblyComponentsFromXML(<sp/>element<sp/>);</highlight></codeline>
+<codeline lineno="491"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="492"><highlight class="normal"></highlight></codeline>
+<codeline lineno="493"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ReleaseMemory()</highlight></codeline>
+<codeline lineno="494"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="495"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ind<sp/>=<sp/>0;<sp/>ind<sp/>&lt;<sp/>bindedElements.size();<sp/>ind++<sp/>)</highlight></codeline>
+<codeline lineno="496"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bindedElements[ind]-&gt;ReleaseMemory();</highlight></codeline>
+<codeline lineno="497"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="498"><highlight class="normal"></highlight></codeline>
+<codeline lineno="499"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyComponentsToXML(<sp/>DOMElement<sp/>&amp;element<sp/>)</highlight></codeline>
+<codeline lineno="500"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="501"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ind<sp/>=<sp/>0;<sp/>ind<sp/>&lt;<sp/>bindedElements.size();<sp/>ind++<sp/>)</highlight></codeline>
+<codeline lineno="502"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>!bindedElements[ind]-&gt;DisassemblyComponentsToXML(<sp/>element<sp/>)<sp/>)</highlight></codeline>
+<codeline lineno="503"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="504"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="505"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="506"><highlight class="normal"></highlight></codeline>
+<codeline lineno="507"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="508"><highlight class="normal"></highlight></codeline>
+<codeline lineno="509"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo&lt;T&gt;</ref>(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>userFriendlyTypeName<sp/>)</highlight></codeline>
+<codeline lineno="510"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;T&gt;</ref>(<sp/>userFriendlyTypeName<sp/>)</highlight></codeline>
+<codeline lineno="511"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="512"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="513"><highlight class="normal"></highlight></codeline>
+<codeline lineno="514"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="515"><highlight class="normal"></highlight></codeline>
+<codeline lineno="516"><highlight class="normal"></highlight></codeline>
+<codeline lineno="527" refid="classValuedUserInfo" refkind="compound"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">typename</highlight><highlight class="normal"><sp/>T&gt;<sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo</ref>&lt;T&gt;</highlight></codeline>
+<codeline lineno="528"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="529"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="530"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>AssemblyComponentsFromXML(<sp/>DOMElement<sp/>&amp;element<sp/>)</highlight></codeline>
+<codeline lineno="531"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="532"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref><sp/>=<sp/><ref refid="classAttribute_1452441da4ebfda23cdc668943ffe8da7" kindref="member" tooltip="Static member, a constant instance related to the attribute named &amp;#39;value&amp;#39;...">Attribute::value</ref>.<ref refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" kindref="member" tooltip="This method parse DOMElement, finds proper attribute and returns its value.">Get</ref>(<sp/>element<sp/>);</highlight></codeline>
+<codeline lineno="533"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="534"><highlight class="normal"></highlight></codeline>
+<codeline lineno="535"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyComponentsToXML(<sp/>DOMElement<sp/>&amp;element<sp/>)</highlight></codeline>
+<codeline lineno="536"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="537"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAttribute_1452441da4ebfda23cdc668943ffe8da7" kindref="member" tooltip="Static member, a constant instance related to the attribute named &amp;#39;value&amp;#39;...">Attribute::value</ref>.<ref refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" kindref="member" tooltip="This method adds the passed string as an new attribute into the passed DOMElement...">Set</ref>(<sp/>element,<sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref><sp/>);</highlight></codeline>
+<codeline lineno="538"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="539"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="540"><highlight class="normal"></highlight></codeline>
+<codeline lineno="541"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="542"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo&lt;T&gt;</ref>(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>userFriendlyTypeName<sp/>)</highlight></codeline>
+<codeline lineno="543"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;T&gt;</ref>(<sp/>userFriendlyTypeName<sp/>)</highlight></codeline>
+<codeline lineno="544"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="545"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="546"><highlight class="normal"></highlight></codeline>
+<codeline lineno="547"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~<ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo&lt;T&gt;</ref>()</highlight></codeline>
+<codeline lineno="548"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="549"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="550"><highlight class="normal"></highlight></codeline>
+<codeline lineno="552" refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref>;</highlight></codeline>
+<codeline lineno="553"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="554"><highlight class="normal"></highlight></codeline>
+<codeline lineno="576" refid="classRootElement" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classRootElement" kindref="compound" tooltip="This class serves to load and/or save DOMElements into/from files stored on a hard-disk...">RootElement</ref><sp/></highlight></codeline>
+<codeline lineno="577"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="578"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="582"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classAssertXercesIsAlive" kindref="compound" tooltip="Class initializing Xerces library.">AssertXercesIsAlive</ref><sp/>dummy;</highlight></codeline>
+<codeline lineno="583"><highlight class="normal"></highlight></codeline>
+<codeline lineno="585"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMDocument*<sp/>pDoc;</highlight></codeline>
+<codeline lineno="586"><highlight class="normal"></highlight></codeline>
+<codeline lineno="587"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>XMLCh*<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>transcodedFileName;</highlight></codeline>
+<codeline lineno="588"><highlight class="normal"></highlight></codeline>
+<codeline lineno="590"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMImplementation<sp/>*pImplementation;</highlight></codeline>
+<codeline lineno="591"><highlight class="normal"></highlight></codeline>
+<codeline lineno="593"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMWriter<sp/>*pSerializer;</highlight></codeline>
+<codeline lineno="594"><highlight class="normal"></highlight></codeline>
+<codeline lineno="595"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>Clean();</highlight></codeline>
+<codeline lineno="596"><highlight class="normal"></highlight></codeline>
+<codeline lineno="597"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="599"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRootElement_125cd0a3019e91c5bbe8bc09cdf6e61aa" kindref="member" tooltip="attach new RootElement instance to a file (typically with an XML extension)">RootElement</ref>(<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>fileName<sp/>);</highlight></codeline>
+<codeline lineno="600"><highlight class="normal"></highlight></codeline>
+<codeline lineno="601"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~<ref refid="classRootElement" kindref="compound" tooltip="This class serves to load and/or save DOMElements into/from files stored on a hard-disk...">RootElement</ref>();</highlight></codeline>
+<codeline lineno="602"><highlight class="normal"></highlight></codeline>
+<codeline lineno="604"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classRootElement_1888749537060fd60a939486cd2e73b9b" kindref="member" tooltip="this method loads root element and all its subnodes from the attached file">Load</ref>(<sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>)<sp/>;</highlight></codeline>
+<codeline lineno="605"><highlight class="normal"></highlight></codeline>
+<codeline lineno="607"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classRootElement_15ce717e64c3b7be09f695e6ede6294db" kindref="member" tooltip="this method saves all the previsoulsy attached DOMElements into the file">Save</ref><sp/>(<sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="608"><highlight class="normal"></highlight></codeline>
+<codeline lineno="610"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRootElement_19ad2ae1c73d73b06bc98afa0f32d9ad3" kindref="member" tooltip="this operator allows to use a RootElement instance whenever a DOMElement variable...">operator DOMElement&amp;</ref>();</highlight></codeline>
+<codeline lineno="611"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="612"><highlight class="normal"></highlight></codeline>
+<codeline lineno="613"><highlight class="normal"></highlight></codeline>
+<codeline lineno="617"><highlight class="normal"></highlight></codeline>
+<codeline lineno="618"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">BoolUI:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;bool&gt;</highlight></codeline>
+<codeline lineno="619"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="620"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="621"><highlight class="normal"></highlight></codeline>
+<codeline lineno="622"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal">*<sp/>AssemblyInstance()</highlight></codeline>
+<codeline lineno="623"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="624"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>value<sp/>==<sp/></highlight><highlight class="stringliteral">&quot;true&quot;</highlight><highlight class="normal"><sp/>)</highlight></codeline>
+<codeline lineno="625"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>bool(<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="626"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>value<sp/>==<sp/></highlight><highlight class="stringliteral">&quot;false&quot;</highlight><highlight class="normal"><sp/>)</highlight></codeline>
+<codeline lineno="627"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>bool(<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="628"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>NULL;</highlight></codeline>
+<codeline lineno="629"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="630"><highlight class="normal"></highlight></codeline>
+<codeline lineno="631"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyInstance(</highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>&amp;instance)</highlight></codeline>
+<codeline lineno="632"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="633"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>instance<sp/>)</highlight></codeline>
+<codeline lineno="634"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref><sp/>=<sp/></highlight><highlight class="stringliteral">&quot;true&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="635"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="636"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref><sp/>=<sp/></highlight><highlight class="stringliteral">&quot;false&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="637"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;<sp/></highlight></codeline>
+<codeline lineno="638"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="639"><highlight class="normal"></highlight></codeline>
+<codeline lineno="640"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="641"><highlight class="normal"></highlight></codeline>
+<codeline lineno="642"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BoolUI()</highlight></codeline>
+<codeline lineno="643"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/><ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;bool&gt;(</highlight><highlight class="stringliteral">&quot;bool&quot;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="644"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="645"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="646"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="647"><highlight class="normal"></highlight></codeline>
+<codeline lineno="648"><highlight class="normal"></highlight></codeline>
+<codeline lineno="649"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">IntUI:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;int&gt;</highlight></codeline>
+<codeline lineno="650"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="651"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="652"><highlight class="normal"></highlight></codeline>
+<codeline lineno="653"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal">*<sp/>AssemblyInstance()</highlight></codeline>
+<codeline lineno="654"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="655"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>int(<sp/>atoi(<sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref>.c_str())<sp/>);</highlight></codeline>
+<codeline lineno="656"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="657"><highlight class="normal"></highlight></codeline>
+<codeline lineno="658"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyInstance(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>&amp;instance)</highlight></codeline>
+<codeline lineno="659"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="660"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>buff[30];</highlight></codeline>
+<codeline lineno="661"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sprintf(buff,<sp/></highlight><highlight class="stringliteral">&quot;%d&quot;</highlight><highlight class="normal">,<sp/>instance<sp/>);</highlight></codeline>
+<codeline lineno="662"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref><sp/>=<sp/>buff;</highlight></codeline>
+<codeline lineno="663"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;<sp/></highlight></codeline>
+<codeline lineno="664"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="665"><highlight class="normal"></highlight></codeline>
+<codeline lineno="666"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="667"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>IntUI():<ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;int&gt;(</highlight><highlight class="stringliteral">&quot;int&quot;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="668"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="669"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="670"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="671"><highlight class="normal"></highlight></codeline>
+<codeline lineno="672"><highlight class="normal"></highlight></codeline>
+<codeline lineno="673"><highlight class="normal"></highlight></codeline>
+<codeline lineno="674"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">DoubleUI:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;double&gt;</highlight></codeline>
+<codeline lineno="675"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="676"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="677"><highlight class="normal"></highlight></codeline>
+<codeline lineno="678"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal">*<sp/>AssemblyInstance()</highlight></codeline>
+<codeline lineno="679"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="680"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>double(<sp/>atof(<sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref>.c_str())<sp/>);</highlight></codeline>
+<codeline lineno="681"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="682"><highlight class="normal"></highlight></codeline>
+<codeline lineno="683"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyInstance(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;instance)</highlight></codeline>
+<codeline lineno="684"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="685"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>buff[30];</highlight></codeline>
+<codeline lineno="686"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sprintf(buff,<sp/></highlight><highlight class="stringliteral">&quot;%f&quot;</highlight><highlight class="normal">,<sp/>instance<sp/>);</highlight></codeline>
+<codeline lineno="687"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref><sp/>=<sp/>buff;</highlight></codeline>
+<codeline lineno="688"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;<sp/></highlight></codeline>
+<codeline lineno="689"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="690"><highlight class="normal"></highlight></codeline>
+<codeline lineno="691"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="692"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DoubleUI():<ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;double&gt;(</highlight><highlight class="stringliteral">&quot;double&quot;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="693"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="694"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="695"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="696"><highlight class="normal"></highlight></codeline>
+<codeline lineno="697"><highlight class="normal"></highlight></codeline>
+<codeline lineno="698"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">StringUI:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;string&gt;</highlight></codeline>
+<codeline lineno="699"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="700"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="701"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">*<sp/>AssemblyInstance()</highlight></codeline>
+<codeline lineno="702"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="703"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>string(<sp/>value<sp/>);</highlight></codeline>
+<codeline lineno="704"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="705"><highlight class="normal"></highlight></codeline>
+<codeline lineno="706"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyInstance(</highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;instance)</highlight></codeline>
+<codeline lineno="707"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="708"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" kindref="member" tooltip="string variable which is automatically binded to a proper DOMElement attribute">value</ref><sp/>=<sp/>instance;</highlight></codeline>
+<codeline lineno="709"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="710"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="711"><highlight class="normal"></highlight></codeline>
+<codeline lineno="712"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="713"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>StringUI():<ref refid="classValuedUserInfo" kindref="compound" tooltip="The main userinfo template class. It should be derived whenever you need a new userinfo...">ValuedUserInfo</ref>&lt;string&gt;(</highlight><highlight class="stringliteral">&quot;string&quot;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="714"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="715"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="716"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="717"><highlight class="normal"></highlight></codeline>
+<codeline lineno="718"><highlight class="normal"></highlight></codeline>
+<codeline lineno="719"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>#ifndef<sp/>UI_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmlnorm.xml
===================================================================
--- /doc/xml/classmlnorm.xml (revision 187)
+++ /doc/xml/classmlnorm.xml (revision 187)
@@ -0,0 +1,495 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmlnorm" kind="class" prot="public">
+    <compoundname>mlnorm</compoundname>
+    <basecompoundref refid="classmEF" prot="public" virt="non-virtual">mEF</basecompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+    <templateparamlist>
+      <param>
+        <type>class</type>
+        <declname>sq_T</declname>
+        <defname>sq_T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classmlnorm_1b76ee2171ace4fb3ff95a131ae8fc421" prot="private" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; sq_T &gt;</type>
+        <definition>enorm&lt;sq_T&gt; mlnorm&lt; sq_T &gt;::epdf</definition>
+        <argsstring></argsstring>
+        <name>epdf</name>
+        <briefdescription>
+<para>Internal <ref refid="classepdf" kindref="compound">epdf</ref> that arise by conditioning on <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="233" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="233" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmlnorm_190a62528ca1ce79b6396ff899119da0f" prot="private" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat mlnorm&lt; sq_T &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="234" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="234" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmlnorm_117552bef9aeba92a42516fe7d39a5893" prot="private" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; mlnorm&lt; sq_T &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="235" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="235" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mlnorm&lt; sq_T &gt;::mlnorm</definition>
+        <argsstring>(RV &amp;rv, RV &amp;rvc)</argsstring>
+        <name>mlnorm</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvc</declname>
+        </param>
+        <briefdescription>
+<para>Constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="238" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="412" bodyend="413"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      <memberdef kind="function" id="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void mlnorm&lt; sq_T &gt;::set_parameters</definition>
+        <argsstring>(const mat &amp;A, const sq_T &amp;R)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>const sq_T &amp;</type>
+          <declname>R</declname>
+        </param>
+        <briefdescription>
+<para>Set <computeroutput>A</computeroutput> and <computeroutput>R</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="240" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="416" bodyend="419"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec mlnorm&lt; sq_T &gt;::samplecond</definition>
+        <argsstring>(vec &amp;cond, double &amp;lik)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>lik</declname>
+        </param>
+        <briefdescription>
+<para>Generate one sample of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="242" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="422" bodyend="427"/>
+        <references refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" compoundref="libEF_8h" startline="447" endline="450">mlnorm&lt; sq_T &gt;::condition</references>
+      </memberdef>
+      <memberdef kind="function" id="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat</type>
+        <definition>mat mlnorm&lt; sq_T &gt;::samplecond</definition>
+        <argsstring>(vec &amp;cond, vec &amp;lik, int n)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>lik</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n</declname>
+        </param>
+        <briefdescription>
+<para>Generate matrix of samples of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="244" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="430" bodyend="444"/>
+        <references refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" compoundref="libEF_8h" startline="447" endline="450">mlnorm&lt; sq_T &gt;::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void mlnorm&lt; sq_T &gt;::condition</definition>
+        <argsstring>(vec &amp;cond)</argsstring>
+        <name>condition</name>
+        <param>
+          <type>vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Set value of <computeroutput>rvc</computeroutput> . Result of this operation is stored in <computeroutput><ref refid="classepdf" kindref="compound">epdf</ref></computeroutput> use function <computeroutput>_ep</computeroutput> to access it. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="246" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="447" bodyend="450"/>
+        <referencedby refid="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" compoundref="libEF_8h" startline="422" endline="427">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void mpdf::condition</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>condition</name>
+        <reimplementedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460">condition</reimplementedby>
+        <reimplementedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97">condition</reimplementedby>
+        <reimplementedby refid="classmmix_11a66629ec5c2b6f4740606cf737f0193">condition</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="195" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="195" bodyend="195"/>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">mpdf::_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf::mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix::mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Normal distributed linear function with linear function of mean value;. </para>    </briefdescription>
+    <detaileddescription>
+<para>Mean value <formula id="40">$mu=A*rvc$</formula>. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1221">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+      <node id="1219">
+        <label>mlnorm&lt; sq_T &gt;</label>
+        <link refid="classmlnorm"/>
+        <childnode refid="1220" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1220">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1221" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1226">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1225" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1225">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1224">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1225" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1226" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+      <node id="1222">
+        <label>mlnorm&lt; sq_T &gt;</label>
+        <link refid="classmlnorm"/>
+        <childnode refid="1223" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1223">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1224" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="231" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="231" bodyend="247"/>
+    <listofallmembers>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>_epdf</name></member>
+      <member refid="classmlnorm_117552bef9aeba92a42516fe7d39a5893" prot="private" virt="non-virtual"><scope>mlnorm</scope><name>_mu</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>_rvc</name></member>
+      <member refid="classmlnorm_190a62528ca1ce79b6396ff899119da0f" prot="private" virt="non-virtual"><scope>mlnorm</scope><name>A</name></member>
+      <member refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>condition</name></member>
+      <member refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" virt="virtual" ambiguityscope="mEF::"><scope>mlnorm</scope><name>condition</name></member>
+      <member refid="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" virt="non-virtual"><scope>mlnorm</scope><name>ep</name></member>
+      <member refid="classmlnorm_1b76ee2171ace4fb3ff95a131ae8fc421" prot="private" virt="non-virtual"><scope>mlnorm</scope><name>epdf</name></member>
+      <member refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" virt="virtual"><scope>mlnorm</scope><name>evalcond</name></member>
+      <member refid="classmEF_18bf51fe8654d7b83c8c8afeb19409d4f" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>mEF</name></member>
+      <member refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>mlnorm</name></member>
+      <member refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>mpdf</name></member>
+      <member refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" virt="non-virtual"><scope>mlnorm</scope><name>rv</name></member>
+      <member refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" virt="non-virtual"><scope>mlnorm</scope><name>rvc</name></member>
+      <member refid="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>samplecond</name></member>
+      <member refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>samplecond</name></member>
+      <member refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" virt="virtual" ambiguityscope="mEF::"><scope>mlnorm</scope><name>samplecond</name></member>
+      <member refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" virt="virtual" ambiguityscope="mEF::"><scope>mlnorm</scope><name>samplecond</name></member>
+      <member refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" prot="public" virt="non-virtual"><scope>mlnorm</scope><name>set_parameters</name></member>
+      <member refid="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" virt="virtual"><scope>mlnorm</scope><name>~mpdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/sumitpp_8cpp.xml
===================================================================
--- /doc/xml/sumitpp_8cpp.xml (revision 187)
+++ /doc/xml/sumitpp_8cpp.xml (revision 187)
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="sumitpp_8cpp" kind="file">
+    <compoundname>sumitpp.cpp</compoundname>
+    <includes local="no">itpp/itcomm.h</includes>
+    <includes local="no">itpp/itmex.h</includes>
+    <includes local="no">../../bdm/estim/arx.h</includes>
+    <incdepgraph>
+      <node id="535">
+        <label>work/git/mixpp/matlab/mex/sumitpp.cpp</label>
+        <link refid="sumitpp.cpp"/>
+        <childnode refid="536" relation="include">
+        </childnode>
+        <childnode refid="537" relation="include">
+        </childnode>
+        <childnode refid="538" relation="include">
+        </childnode>
+      </node>
+      <node id="537">
+        <label>itpp/itmex.h</label>
+      </node>
+      <node id="536">
+        <label>itpp/itcomm.h</label>
+      </node>
+      <node id="538">
+        <label>../../bdm/estim/arx.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="sumitpp_8cpp_182033299688d607730e08333ff7471f8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mexFunction</definition>
+        <argsstring>(int n_output, mxArray *output[], int n_input, const mxArray *input[])</argsstring>
+        <name>mexFunction</name>
+        <param>
+          <type>int</type>
+          <declname>n_output</declname>
+        </param>
+        <param>
+          <type>mxArray *</type>
+          <declname>output</declname>
+          <array>[]</array>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n_input</declname>
+        </param>
+        <param>
+          <type>const mxArray *</type>
+          <declname>input</declname>
+          <array>[]</array>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/sumitpp.cpp" line="8" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/sumitpp.cpp" bodystart="8" bodyend="28"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itcomm.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itmex.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;../../bdm/estim/arx.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mexFunction<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_output,<sp/>mxArray<sp/>*output[],<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_input,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mxArray<sp/>*input[]<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Check<sp/>the<sp/>number<sp/>of<sp/>inputs<sp/>and<sp/>output<sp/>arguments</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output!=1<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>output<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_input!=1<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>input<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>input<sp/>variables<sp/>to<sp/>IT++<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data<sp/>=<sp/>mxArray2mat<sp/>(<sp/>input[0]<sp/>);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mn;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mn<sp/>=<sp/>sum(Data);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>output<sp/>vectors</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[0]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>1,mn.length(),<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>the<sp/>IT++<sp/>format<sp/>to<sp/>Matlab<sp/>format<sp/>for<sp/>output</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec2mxArray<sp/>(<sp/>mn,<sp/>output[0]<sp/>);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/mex/sumitpp.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classlinfn.xml
===================================================================
--- /doc/xml/classlinfn.xml (revision 187)
+++ /doc/xml/classlinfn.xml (revision 187)
@@ -0,0 +1,189 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classlinfn" kind="class" prot="public">
+    <compoundname>linfn</compoundname>
+    <basecompoundref refid="classfnc" prot="public" virt="non-virtual">fnc</basecompoundref>
+    <includes refid="libFN_8h" local="no">libFN.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classlinfn_1b02f3c424b0e1ff877da4ee0cc836603" prot="private" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV linfn::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identification of <formula id="28">$x$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="38" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="38" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classlinfn_145b9c79ced4e01a50eae8342981e6be4" prot="private" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat linfn::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="40" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classlinfn_18c40031f010f382655234d52fdbbaaea" prot="private" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec linfn::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classlinfn_1fac0e56701f4c7beaf1c91f9b2a55f0b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec linfn::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>function evaluates numerical value of <formula id="35">$f(x)$</formula> at <formula id="37">$x=$</formula> <computeroutput>cond</computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="44" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="44" bodyend="44"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+      </memberdef>
+      <memberdef kind="function" id="classlinfn_101c70122a7783ddb0d87e6a82685adcb" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>linfn::linfn</definition>
+        <argsstring>(const RV &amp;rv0)</argsstring>
+        <name>linfn</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="48" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="48" bodyend="48"/>
+      </memberdef>
+      <memberdef kind="function" id="classlinfn_115eb81f2141984a61706b7ad5b411505" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void linfn::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const vec &amp;B0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <briefdescription>
+<para>Set values of <computeroutput>A</computeroutput> and <computeroutput>B</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="50" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="50" bodyend="50"/>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">diffbifn::eval</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class representing function <formula id="46">$f(x) = Ax+B$</formula>. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1156">
+        <label>linfn</label>
+        <link refid="classlinfn"/>
+        <childnode refid="1157" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1157">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1160">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1158">
+        <label>linfn</label>
+        <link refid="classlinfn"/>
+        <childnode refid="1159" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1160" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1159">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="35" bodyend="51"/>
+    <listofallmembers>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>linfn</scope><name>_dimy</name></member>
+      <member refid="classlinfn_145b9c79ced4e01a50eae8342981e6be4" prot="private" virt="non-virtual"><scope>linfn</scope><name>A</name></member>
+      <member refid="classlinfn_18c40031f010f382655234d52fdbbaaea" prot="private" virt="non-virtual"><scope>linfn</scope><name>B</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>linfn</scope><name>dimy</name></member>
+      <member refid="classlinfn_1fac0e56701f4c7beaf1c91f9b2a55f0b" prot="public" virt="virtual"><scope>linfn</scope><name>eval</name></member>
+      <member refid="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" virt="non-virtual"><scope>linfn</scope><name>fnc</name></member>
+      <member refid="classlinfn_101c70122a7783ddb0d87e6a82685adcb" prot="public" virt="non-virtual"><scope>linfn</scope><name>linfn</name></member>
+      <member refid="classlinfn_1b02f3c424b0e1ff877da4ee0cc836603" prot="private" virt="non-virtual"><scope>linfn</scope><name>rv</name></member>
+      <member refid="classlinfn_115eb81f2141984a61706b7ad5b411505" prot="public" virt="non-virtual"><scope>linfn</scope><name>set_parameters</name></member>
+      <member refid="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" virt="virtual"><scope>linfn</scope><name>~fnc</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libDS_8h.xml
===================================================================
--- /doc/xml/libDS_8h.xml (revision 187)
+++ /doc/xml/libDS_8h.xml (revision 187)
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libDS_8h" kind="file">
+    <compoundname>libDS.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">libBM.h</includes>
+    <includedby refid="libDS_8cpp" local="yes">work/git/mixpp/bdm/stat/libDS.cpp</includedby>
+    <incdepgraph>
+      <node id="380">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="379" relation="include">
+        </childnode>
+      </node>
+      <node id="379">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="378">
+        <label>work/git/mixpp/bdm/stat/libDS.h</label>
+        <link refid="libDS.h"/>
+        <childnode refid="379" relation="include">
+        </childnode>
+        <childnode refid="380" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classMemDS" prot="public">MemDS</innerclass>
+    <briefdescription>
+<para>Common DataSources. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>DS_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>DS_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libBM_8h" kindref="compound" tooltip="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28" refid="classMemDS" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classMemDS" kindref="compound" tooltip="Class representing off-line data stored in memory.">MemDS</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classDS" kindref="compound" tooltip="Abstract class for discrete-time sources of data.">DS</ref><sp/>{</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">mat<sp/>Data;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>time;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">ivec<sp/>rowid;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal">ivec<sp/>delays;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449" kindref="member" tooltip="Returns full vector of observed data.">getdata</ref>(vec<sp/>&amp;dt);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449" kindref="member" tooltip="Returns full vector of observed data.">getdata</ref>(vec<sp/>&amp;dt,<sp/>ivec<sp/>&amp;indeces);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" kindref="member" tooltip="Method that assigns random variables to the datasource. Typically, the datasource...">linkrvs</ref>(<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;drv,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;urv);</highlight></codeline>
+<codeline lineno="38" refid="classMemDS_1b120ed178f7c848f1227c928d8a79be8" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_1b120ed178f7c848f1227c928d8a79be8" kindref="member" tooltip="Accepts action variable and schedule it for application.">write</ref>(vec<sp/>&amp;ut){it_error(</highlight><highlight class="stringliteral">&quot;MemDS::write<sp/>is<sp/>not<sp/>supported&quot;</highlight><highlight class="normal">);}</highlight></codeline>
+<codeline lineno="39" refid="classMemDS_16279bf18d44343750747ecc12e050f09" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_1b120ed178f7c848f1227c928d8a79be8" kindref="member" tooltip="Accepts action variable and schedule it for application.">write</ref>(vec<sp/>&amp;ut,ivec<sp/>&amp;indexes){it_error(</highlight><highlight class="stringliteral">&quot;MemDS::write<sp/>is<sp/>not<sp/>supported&quot;</highlight><highlight class="normal">);}</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_121916feb3e5ff960855c09b06a0d279b" kindref="member" tooltip="Moves from  to , i.e. perfroms the actions and reads response of the system.">step</ref>();</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMemDS_184cfba80cb32d07be94690658175e9c4" kindref="member" tooltip="Default constructor.">MemDS</ref>(mat<sp/>&amp;Dat,<sp/>ivec<sp/>&amp;rowid,<sp/>ivec<sp/>&amp;delays);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>DS_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/namespacexml__schema.xml
===================================================================
--- /doc/xml/namespacexml__schema.xml (revision 187)
+++ /doc/xml/namespacexml__schema.xml (revision 187)
@@ -0,0 +1,1495 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="namespacexml__schema" kind="namespace">
+    <compoundname>xml_schema</compoundname>
+      <sectiondef kind="typedef">
+      <memberdef kind="typedef" id="namespacexml__schema_199171d782ef32c54b3a10185c1c04213" prot="public" static="no">
+        <type>::xsd::cxx::parser::string_sequence&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::string_sequence&lt; char &gt; xml_schema::string_sequence</definition>
+        <argsstring></argsstring>
+        <name>string_sequence</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="75" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="75" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d4dbb6af4bcd8a2708e730f231e0a71f" prot="public" static="no">
+        <type>::xsd::cxx::parser::qname&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::qname&lt; char &gt; xml_schema::qname</definition>
+        <argsstring></argsstring>
+        <name>qname</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="76" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="76" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_13fca6f557d033465efe48bce8bbb6bbb" prot="public" static="no">
+        <type>::xsd::cxx::parser::buffer</type>
+        <definition>typedef ::xsd::cxx::parser::buffer xml_schema::buffer</definition>
+        <argsstring></argsstring>
+        <name>buffer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="77" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="77" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1345c180397287977fcc12f91c4ff8925" prot="public" static="no">
+        <type>::xsd::cxx::parser::time_zone</type>
+        <definition>typedef ::xsd::cxx::parser::time_zone xml_schema::time_zone</definition>
+        <argsstring></argsstring>
+        <name>time_zone</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="78" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="78" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1b29ca6a365505b1f31717041f2f7a86c" prot="public" static="no">
+        <type>::xsd::cxx::parser::gday</type>
+        <definition>typedef ::xsd::cxx::parser::gday xml_schema::gday</definition>
+        <argsstring></argsstring>
+        <name>gday</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="79" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="79" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d5d16ba244a557de4c54531b2c9eefc3" prot="public" static="no">
+        <type>::xsd::cxx::parser::gmonth</type>
+        <definition>typedef ::xsd::cxx::parser::gmonth xml_schema::gmonth</definition>
+        <argsstring></argsstring>
+        <name>gmonth</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="80" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="80" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_159588bc16ec7d698d95187411a046b71" prot="public" static="no">
+        <type>::xsd::cxx::parser::gyear</type>
+        <definition>typedef ::xsd::cxx::parser::gyear xml_schema::gyear</definition>
+        <argsstring></argsstring>
+        <name>gyear</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="81" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="81" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_10f2376235a3413860ef976da3c6b8252" prot="public" static="no">
+        <type>::xsd::cxx::parser::gmonth_day</type>
+        <definition>typedef ::xsd::cxx::parser::gmonth_day xml_schema::gmonth_day</definition>
+        <argsstring></argsstring>
+        <name>gmonth_day</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="82" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="82" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1c8cecb316d88b4f95d92da95dc033ae6" prot="public" static="no">
+        <type>::xsd::cxx::parser::gyear_month</type>
+        <definition>typedef ::xsd::cxx::parser::gyear_month xml_schema::gyear_month</definition>
+        <argsstring></argsstring>
+        <name>gyear_month</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="83" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="83" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1002476bac2a9c07afd4902e87067bac5" prot="public" static="no">
+        <type>::xsd::cxx::parser::date</type>
+        <definition>typedef ::xsd::cxx::parser::date xml_schema::date</definition>
+        <argsstring></argsstring>
+        <name>date</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="84" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="84" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_112683372c957b465ccc5bf1594600a4f" prot="public" static="no">
+        <type>::xsd::cxx::parser::time</type>
+        <definition>typedef ::xsd::cxx::parser::time xml_schema::time</definition>
+        <argsstring></argsstring>
+        <name>time</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="85" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="85" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1e68bec1e9187aeeed60603a48f3b103d" prot="public" static="no">
+        <type>::xsd::cxx::parser::date_time</type>
+        <definition>typedef ::xsd::cxx::parser::date_time xml_schema::date_time</definition>
+        <argsstring></argsstring>
+        <name>date_time</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="86" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="86" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_10c205d4aec52397fdcb3d5db537a9fd3" prot="public" static="no">
+        <type>::xsd::cxx::parser::duration</type>
+        <definition>typedef ::xsd::cxx::parser::duration xml_schema::duration</definition>
+        <argsstring></argsstring>
+        <name>duration</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="87" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="87" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1e12bf0a86b823b6ad5c5c5ec8998555f" prot="public" static="no">
+        <type>::xsd::cxx::parser::parser_base&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::parser_base&lt; char &gt; xml_schema::parser_base</definition>
+        <argsstring></argsstring>
+        <name>parser_base</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="91" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="91" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1c88be0bb2b0ec45fb95dd8c9eff4bda1" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::empty_content&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::empty_content&lt; char &gt; xml_schema::empty_content</definition>
+        <argsstring></argsstring>
+        <name>empty_content</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="92" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="92" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_14fbdf585854899b1ee698596a5f1fca9" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::simple_content&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::simple_content&lt; char &gt; xml_schema::simple_content</definition>
+        <argsstring></argsstring>
+        <name>simple_content</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="93" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="93" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1311d8462795b91310c6964e453ea5521" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::complex_content&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::complex_content&lt; char &gt; xml_schema::complex_content</definition>
+        <argsstring></argsstring>
+        <name>complex_content</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="94" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="94" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1946898369851fe479a74df6eb45e6e83" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::list_base&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::list_base&lt; char &gt; xml_schema::list_base</definition>
+        <argsstring></argsstring>
+        <name>list_base</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="95" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="95" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1bb5eb757db94bc0790d984a04afdf3e8" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::any_type_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::any_type_pskel&lt; char &gt; xml_schema::any_type_pskel</definition>
+        <argsstring></argsstring>
+        <name>any_type_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="100" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="100" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1a3985356172df371219dd032fb2714af" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::any_type_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::any_type_pimpl&lt; char &gt; xml_schema::any_type_pimpl</definition>
+        <argsstring></argsstring>
+        <name>any_type_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="101" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="101" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1e5fa91b2ce9cc04a0a42d1834cf3e99a" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::any_simple_type_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::any_simple_type_pskel&lt; char &gt; xml_schema::any_simple_type_pskel</definition>
+        <argsstring></argsstring>
+        <name>any_simple_type_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="103" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="103" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1f2f9fedb5f1e2734dbf513950abf84f3" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::any_simple_type_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::any_simple_type_pimpl&lt; char &gt; xml_schema::any_simple_type_pimpl</definition>
+        <argsstring></argsstring>
+        <name>any_simple_type_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="104" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="104" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d4252830d506db9af70dddde2b43097e" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::byte_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::byte_pskel&lt; char &gt; xml_schema::byte_pskel</definition>
+        <argsstring></argsstring>
+        <name>byte_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="106" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="106" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_13b0f163b77e59112714335ee25980241" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::byte_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::byte_pimpl&lt; char &gt; xml_schema::byte_pimpl</definition>
+        <argsstring></argsstring>
+        <name>byte_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="107" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="107" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1b6f56325c0af694a696eba1e56a714e2" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_byte_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_byte_pskel&lt; char &gt; xml_schema::unsigned_byte_pskel</definition>
+        <argsstring></argsstring>
+        <name>unsigned_byte_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="109" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="109" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1fd7626971760fc22b77cc9b562e2342f" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_byte_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_byte_pimpl&lt; char &gt; xml_schema::unsigned_byte_pimpl</definition>
+        <argsstring></argsstring>
+        <name>unsigned_byte_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="110" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="110" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1db7b3d7bb1e170768fb49f7eb4e13a9f" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::short_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::short_pskel&lt; char &gt; xml_schema::short_pskel</definition>
+        <argsstring></argsstring>
+        <name>short_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="112" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="112" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_185910743ee144c615f0c37d0eac75879" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::short_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::short_pimpl&lt; char &gt; xml_schema::short_pimpl</definition>
+        <argsstring></argsstring>
+        <name>short_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="113" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="113" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1290ebd4b089a9cf2d9cac2f5fbed71dc" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_short_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_short_pskel&lt; char &gt; xml_schema::unsigned_short_pskel</definition>
+        <argsstring></argsstring>
+        <name>unsigned_short_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="115" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="115" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_16da4944bef0c32ec80f06ecf92d7bbde" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_short_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_short_pimpl&lt; char &gt; xml_schema::unsigned_short_pimpl</definition>
+        <argsstring></argsstring>
+        <name>unsigned_short_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="116" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="116" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1bc2ccc0c1890e607bbce032a8cb14808" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::int_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::int_pskel&lt; char &gt; xml_schema::int_pskel</definition>
+        <argsstring></argsstring>
+        <name>int_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="118" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="118" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1e9315f6b153378de919eb9a4a79d2d40" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::int_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::int_pimpl&lt; char &gt; xml_schema::int_pimpl</definition>
+        <argsstring></argsstring>
+        <name>int_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="119" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="119" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_179fa8744ff567693391d7b2f4cd58185" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_int_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_int_pskel&lt; char &gt; xml_schema::unsigned_int_pskel</definition>
+        <argsstring></argsstring>
+        <name>unsigned_int_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="121" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="121" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_103b2ceca5356e5f3439cad39aac6af2a" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_int_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_int_pimpl&lt; char &gt; xml_schema::unsigned_int_pimpl</definition>
+        <argsstring></argsstring>
+        <name>unsigned_int_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="122" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="122" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1ac4900aaeac313b4ebddcf8aa8c2be26" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::long_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::long_pskel&lt; char &gt; xml_schema::long_pskel</definition>
+        <argsstring></argsstring>
+        <name>long_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="124" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="124" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1e6566e5aef9d66d8fd996417865afcc0" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::long_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::long_pimpl&lt; char &gt; xml_schema::long_pimpl</definition>
+        <argsstring></argsstring>
+        <name>long_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="125" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="125" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1302d87b0a5d6a15bdc27b52ff3a76332" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_long_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_long_pskel&lt; char &gt; xml_schema::unsigned_long_pskel</definition>
+        <argsstring></argsstring>
+        <name>unsigned_long_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="127" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="127" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_17ccbf3b6fee3a81f73bd64c86d5fcd0b" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::unsigned_long_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::unsigned_long_pimpl&lt; char &gt; xml_schema::unsigned_long_pimpl</definition>
+        <argsstring></argsstring>
+        <name>unsigned_long_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="128" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="128" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_15963c0580b16ddebf40552792c65606c" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::integer_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::integer_pskel&lt; char &gt; xml_schema::integer_pskel</definition>
+        <argsstring></argsstring>
+        <name>integer_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="130" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="130" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1670a43ef34a20c191ef27d68228a4ed2" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::integer_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::integer_pimpl&lt; char &gt; xml_schema::integer_pimpl</definition>
+        <argsstring></argsstring>
+        <name>integer_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="131" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="131" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_113332d95bcef98793a1dfa41fdaa4e27" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::non_positive_integer_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::non_positive_integer_pskel&lt; char &gt; xml_schema::non_positive_integer_pskel</definition>
+        <argsstring></argsstring>
+        <name>non_positive_integer_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="133" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="133" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d0cb021deae37060b53633f79618801e" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::non_positive_integer_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::non_positive_integer_pimpl&lt; char &gt; xml_schema::non_positive_integer_pimpl</definition>
+        <argsstring></argsstring>
+        <name>non_positive_integer_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="134" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="134" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1f8bac2f824c5ee11628f8877036d3729" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::non_negative_integer_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::non_negative_integer_pskel&lt; char &gt; xml_schema::non_negative_integer_pskel</definition>
+        <argsstring></argsstring>
+        <name>non_negative_integer_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="136" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="136" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1ee53244ecb48f4d0a93c9ecfee1c8062" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::non_negative_integer_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::non_negative_integer_pimpl&lt; char &gt; xml_schema::non_negative_integer_pimpl</definition>
+        <argsstring></argsstring>
+        <name>non_negative_integer_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="137" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="137" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1720afe2fea5037f793e28783d9c8ca89" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::positive_integer_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::positive_integer_pskel&lt; char &gt; xml_schema::positive_integer_pskel</definition>
+        <argsstring></argsstring>
+        <name>positive_integer_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="139" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="139" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_196b24e688684b52c8376fa5630fc524f" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::positive_integer_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::positive_integer_pimpl&lt; char &gt; xml_schema::positive_integer_pimpl</definition>
+        <argsstring></argsstring>
+        <name>positive_integer_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="140" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="140" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1f9e91ab2019924374dec6127ce2b7361" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::negative_integer_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::negative_integer_pskel&lt; char &gt; xml_schema::negative_integer_pskel</definition>
+        <argsstring></argsstring>
+        <name>negative_integer_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="142" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="142" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_14464eccc259d75800f881e016a83be6f" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::negative_integer_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::negative_integer_pimpl&lt; char &gt; xml_schema::negative_integer_pimpl</definition>
+        <argsstring></argsstring>
+        <name>negative_integer_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="143" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="143" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1e0d9bde13402644b5407b30358f06258" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::boolean_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::boolean_pskel&lt; char &gt; xml_schema::boolean_pskel</definition>
+        <argsstring></argsstring>
+        <name>boolean_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="145" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="145" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1dd662fd09dac022125e01536e14697c6" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::boolean_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::boolean_pimpl&lt; char &gt; xml_schema::boolean_pimpl</definition>
+        <argsstring></argsstring>
+        <name>boolean_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="146" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="146" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1409d68df0da422be7c84103b66c6dcc4" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::float_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::float_pskel&lt; char &gt; xml_schema::float_pskel</definition>
+        <argsstring></argsstring>
+        <name>float_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="148" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="148" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_19ef5b3311ee53088b12166e32be3ef44" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::float_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::float_pimpl&lt; char &gt; xml_schema::float_pimpl</definition>
+        <argsstring></argsstring>
+        <name>float_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="149" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="149" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_10c1b8074345a2740aec2f5da5abad87a" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::double_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::double_pskel&lt; char &gt; xml_schema::double_pskel</definition>
+        <argsstring></argsstring>
+        <name>double_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="151" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="151" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1a9862fa20e89989cd719ea5807610e5b" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::double_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::double_pimpl&lt; char &gt; xml_schema::double_pimpl</definition>
+        <argsstring></argsstring>
+        <name>double_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="152" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="152" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_11ebb5d65e8c31bd3847139941d8b39e2" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::decimal_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::decimal_pskel&lt; char &gt; xml_schema::decimal_pskel</definition>
+        <argsstring></argsstring>
+        <name>decimal_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="154" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="154" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_12c3f71c11e4fb87789c9ea315f0387bb" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::decimal_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::decimal_pimpl&lt; char &gt; xml_schema::decimal_pimpl</definition>
+        <argsstring></argsstring>
+        <name>decimal_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="155" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="155" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1586a6c6287012862bd42495bd0a456ea" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::string_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::string_pskel&lt; char &gt; xml_schema::string_pskel</definition>
+        <argsstring></argsstring>
+        <name>string_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="157" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="157" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_188ac6f26741b6a81c818a4c174e1d03e" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::string_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::string_pimpl&lt; char &gt; xml_schema::string_pimpl</definition>
+        <argsstring></argsstring>
+        <name>string_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="158" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="158" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1edb237ce0d92b1819cb5bc6c519200c1" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::normalized_string_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::normalized_string_pskel&lt; char &gt; xml_schema::normalized_string_pskel</definition>
+        <argsstring></argsstring>
+        <name>normalized_string_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="160" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="160" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_12ff4649dc39a1b0065c9da6ad3671c59" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::normalized_string_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::normalized_string_pimpl&lt; char &gt; xml_schema::normalized_string_pimpl</definition>
+        <argsstring></argsstring>
+        <name>normalized_string_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="161" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="161" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1a2ec3efd74d2be1a24d493358cdfaf6b" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::token_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::token_pskel&lt; char &gt; xml_schema::token_pskel</definition>
+        <argsstring></argsstring>
+        <name>token_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="163" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="163" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_100b7814bd9b8df9534e3759e9ef81542" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::token_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::token_pimpl&lt; char &gt; xml_schema::token_pimpl</definition>
+        <argsstring></argsstring>
+        <name>token_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="164" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="164" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_190ca857626443f0c798daa4ba751d29b" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::name_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::name_pskel&lt; char &gt; xml_schema::name_pskel</definition>
+        <argsstring></argsstring>
+        <name>name_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="166" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="166" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_10b263780a1e98e299ecdb3c2304f6126" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::name_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::name_pimpl&lt; char &gt; xml_schema::name_pimpl</definition>
+        <argsstring></argsstring>
+        <name>name_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="167" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="167" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_17528ea38b97cf10175094a1bc2ce0cc6" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::nmtoken_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::nmtoken_pskel&lt; char &gt; xml_schema::nmtoken_pskel</definition>
+        <argsstring></argsstring>
+        <name>nmtoken_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="169" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="169" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_13cc03ff35541f00f2afd8cf9b1f29f18" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::nmtoken_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::nmtoken_pimpl&lt; char &gt; xml_schema::nmtoken_pimpl</definition>
+        <argsstring></argsstring>
+        <name>nmtoken_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="170" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="170" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_184627f01f7cd66d1c0f5640eabfbe0d7" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::nmtokens_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::nmtokens_pskel&lt; char &gt; xml_schema::nmtokens_pskel</definition>
+        <argsstring></argsstring>
+        <name>nmtokens_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="172" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="172" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_13eee4a0f97e593ab9b49cdda7f8bb9d0" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::nmtokens_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::nmtokens_pimpl&lt; char &gt; xml_schema::nmtokens_pimpl</definition>
+        <argsstring></argsstring>
+        <name>nmtokens_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="173" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="173" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1452ae6042a3fd6e249f2d24368412f3a" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::ncname_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::ncname_pskel&lt; char &gt; xml_schema::ncname_pskel</definition>
+        <argsstring></argsstring>
+        <name>ncname_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="175" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="175" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_182db32e5bf965b9554b7538bb753e887" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::ncname_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::ncname_pimpl&lt; char &gt; xml_schema::ncname_pimpl</definition>
+        <argsstring></argsstring>
+        <name>ncname_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="176" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="176" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_16bbd76476b551be37187a1596a3e0bf3" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::language_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::language_pskel&lt; char &gt; xml_schema::language_pskel</definition>
+        <argsstring></argsstring>
+        <name>language_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="178" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="178" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1665b70ac8df9a260507741954c02ebe7" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::language_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::language_pimpl&lt; char &gt; xml_schema::language_pimpl</definition>
+        <argsstring></argsstring>
+        <name>language_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="179" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="179" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_12a0dc31724ebc1526d0002ca0c0ed1db" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::id_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::id_pskel&lt; char &gt; xml_schema::id_pskel</definition>
+        <argsstring></argsstring>
+        <name>id_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="181" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="181" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1f2342a55143aa9165afc5406f0b8dc25" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::id_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::id_pimpl&lt; char &gt; xml_schema::id_pimpl</definition>
+        <argsstring></argsstring>
+        <name>id_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="182" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="182" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_193ab7b0f2fb9d86fd8bf2beea2a68f19" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::idref_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::idref_pskel&lt; char &gt; xml_schema::idref_pskel</definition>
+        <argsstring></argsstring>
+        <name>idref_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="184" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="184" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1442da60645a36fb0bdb02f338b9cb207" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::idref_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::idref_pimpl&lt; char &gt; xml_schema::idref_pimpl</definition>
+        <argsstring></argsstring>
+        <name>idref_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="185" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="185" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1ea01b3eda9da8af64b01084e708ed101" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::idrefs_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::idrefs_pskel&lt; char &gt; xml_schema::idrefs_pskel</definition>
+        <argsstring></argsstring>
+        <name>idrefs_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="187" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="187" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_15f99c19f382be2c01059ebfd65eabaff" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::idrefs_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::idrefs_pimpl&lt; char &gt; xml_schema::idrefs_pimpl</definition>
+        <argsstring></argsstring>
+        <name>idrefs_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="188" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="188" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_125d5c1dd7df3e46b71e408df7353ae1e" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::uri_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::uri_pskel&lt; char &gt; xml_schema::uri_pskel</definition>
+        <argsstring></argsstring>
+        <name>uri_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="190" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="190" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1de7737a00e9b5ccb456c70f4d45e8ba9" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::uri_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::uri_pimpl&lt; char &gt; xml_schema::uri_pimpl</definition>
+        <argsstring></argsstring>
+        <name>uri_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="191" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="191" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_185b88e0e22ae41ee3a008c33318a8f38" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::qname_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::qname_pskel&lt; char &gt; xml_schema::qname_pskel</definition>
+        <argsstring></argsstring>
+        <name>qname_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="193" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="193" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_18624304551933d2e3a7230f21aa0e9df" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::qname_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::qname_pimpl&lt; char &gt; xml_schema::qname_pimpl</definition>
+        <argsstring></argsstring>
+        <name>qname_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="194" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="194" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_181db65b3dd608b9be885027c9417c7fa" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::base64_binary_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::base64_binary_pskel&lt; char &gt; xml_schema::base64_binary_pskel</definition>
+        <argsstring></argsstring>
+        <name>base64_binary_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="196" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="196" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_13ffdb75505bb28484b1b28813b340292" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::base64_binary_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::base64_binary_pimpl&lt; char &gt; xml_schema::base64_binary_pimpl</definition>
+        <argsstring></argsstring>
+        <name>base64_binary_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="197" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="197" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_12668494f3b463722d248efc265e1cd84" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::hex_binary_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::hex_binary_pskel&lt; char &gt; xml_schema::hex_binary_pskel</definition>
+        <argsstring></argsstring>
+        <name>hex_binary_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="199" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="199" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1c51d295e68060aa9bdbaf4d95479d2f7" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::hex_binary_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::hex_binary_pimpl&lt; char &gt; xml_schema::hex_binary_pimpl</definition>
+        <argsstring></argsstring>
+        <name>hex_binary_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="200" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="200" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1c444df00f3ddcc42798661dfdaa070f6" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::date_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::date_pskel&lt; char &gt; xml_schema::date_pskel</definition>
+        <argsstring></argsstring>
+        <name>date_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="202" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="202" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_11e1b7f36f68bfd2d75304e6fab333d7e" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::date_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::date_pimpl&lt; char &gt; xml_schema::date_pimpl</definition>
+        <argsstring></argsstring>
+        <name>date_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="203" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="203" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_12847bcc14689a0b5286eb42d10626624" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::date_time_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::date_time_pskel&lt; char &gt; xml_schema::date_time_pskel</definition>
+        <argsstring></argsstring>
+        <name>date_time_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="205" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="205" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1451dc15b0fc4c5669162434a28cf3874" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::date_time_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::date_time_pimpl&lt; char &gt; xml_schema::date_time_pimpl</definition>
+        <argsstring></argsstring>
+        <name>date_time_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="206" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="206" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_121ebf16ee4bd4fac4c0b927d950978ad" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::duration_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::duration_pskel&lt; char &gt; xml_schema::duration_pskel</definition>
+        <argsstring></argsstring>
+        <name>duration_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="208" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="208" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1440dc39bde117560307371943f52eef9" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::duration_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::duration_pimpl&lt; char &gt; xml_schema::duration_pimpl</definition>
+        <argsstring></argsstring>
+        <name>duration_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="209" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="209" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_132097a4bd73aa7f58f5d61b1b5d1176e" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gday_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gday_pskel&lt; char &gt; xml_schema::gday_pskel</definition>
+        <argsstring></argsstring>
+        <name>gday_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="211" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="211" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d8735daed1569f6e9943f4c0c171e3a2" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gday_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gday_pimpl&lt; char &gt; xml_schema::gday_pimpl</definition>
+        <argsstring></argsstring>
+        <name>gday_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="212" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="212" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_16bc3581f0bbf310b88c79a410d9e24cc" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gmonth_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gmonth_pskel&lt; char &gt; xml_schema::gmonth_pskel</definition>
+        <argsstring></argsstring>
+        <name>gmonth_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="214" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="214" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1578bcfd64c52cde8819e50ed495f4991" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gmonth_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gmonth_pimpl&lt; char &gt; xml_schema::gmonth_pimpl</definition>
+        <argsstring></argsstring>
+        <name>gmonth_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="215" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="215" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1b4dd0634bec4075f5169424cdecfa6dc" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gmonth_day_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gmonth_day_pskel&lt; char &gt; xml_schema::gmonth_day_pskel</definition>
+        <argsstring></argsstring>
+        <name>gmonth_day_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="217" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="217" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1c63a31767fca7be75393ab54e72b7d11" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gmonth_day_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gmonth_day_pimpl&lt; char &gt; xml_schema::gmonth_day_pimpl</definition>
+        <argsstring></argsstring>
+        <name>gmonth_day_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="218" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="218" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_156825184e91a8cea0bf89abcd7c3b90b" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gyear_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gyear_pskel&lt; char &gt; xml_schema::gyear_pskel</definition>
+        <argsstring></argsstring>
+        <name>gyear_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="220" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="220" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1cfd29e684b80b334397099bd68f7f0b1" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gyear_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gyear_pimpl&lt; char &gt; xml_schema::gyear_pimpl</definition>
+        <argsstring></argsstring>
+        <name>gyear_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="221" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="221" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1e0e2c068e6aaa7b03e9b0a31b2baf624" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gyear_month_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gyear_month_pskel&lt; char &gt; xml_schema::gyear_month_pskel</definition>
+        <argsstring></argsstring>
+        <name>gyear_month_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="223" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="223" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_120312549456b6fe82d509ee550f5f408" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::gyear_month_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::gyear_month_pimpl&lt; char &gt; xml_schema::gyear_month_pimpl</definition>
+        <argsstring></argsstring>
+        <name>gyear_month_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="224" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="224" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d77379461d69f2ccdd77c60fafca492e" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::time_pskel&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::time_pskel&lt; char &gt; xml_schema::time_pskel</definition>
+        <argsstring></argsstring>
+        <name>time_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="226" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="226" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_14a36b17ca6446a0e019cbde666fb20dd" prot="public" static="no">
+        <type>::xsd::cxx::parser::non_validating::time_pimpl&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::non_validating::time_pimpl&lt; char &gt; xml_schema::time_pimpl</definition>
+        <argsstring></argsstring>
+        <name>time_pimpl</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="227" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="227" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1ff74817fe7715e7bda9f3c686ac2844e" prot="public" static="no">
+        <type>::xsd::cxx::parser::exception&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::exception&lt; char &gt; xml_schema::exception</definition>
+        <argsstring></argsstring>
+        <name>exception</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="231" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="231" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1f0d000e5fde5929bf526490e64e95a83" prot="public" static="no">
+        <type>::xsd::cxx::parser::severity</type>
+        <definition>typedef ::xsd::cxx::parser::severity xml_schema::severity</definition>
+        <argsstring></argsstring>
+        <name>severity</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="235" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="235" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_16cb37dc7f4b5486ab8f5c66ae7abd481" prot="public" static="no">
+        <type>::xsd::cxx::parser::error&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::error&lt; char &gt; xml_schema::error</definition>
+        <argsstring></argsstring>
+        <name>error</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="236" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="236" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1c57fbf29c0a6b554a272e7a98e1d3be1" prot="public" static="no">
+        <type>::xsd::cxx::parser::diagnostics&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::diagnostics&lt; char &gt; xml_schema::diagnostics</definition>
+        <argsstring></argsstring>
+        <name>diagnostics</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="237" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="237" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d22ddc9bd113f46fda6d59f442a83987" prot="public" static="no">
+        <type>::xsd::cxx::parser::parsing&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::parsing&lt; char &gt; xml_schema::parsing</definition>
+        <argsstring></argsstring>
+        <name>parsing</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="238" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="238" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1bdee01986b8e16f04af47dd12038261e" prot="public" static="no">
+        <type>::xsd::cxx::xml::error_handler&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::xml::error_handler&lt; char &gt; xml_schema::error_handler</definition>
+        <argsstring></argsstring>
+        <name>error_handler</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="242" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="242" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_11049df2940def79f8989111d64bee97b" prot="public" static="no">
+        <type>::xsd::cxx::ro_string&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::ro_string&lt; char &gt; xml_schema::ro_string</definition>
+        <argsstring></argsstring>
+        <name>ro_string</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="246" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="246" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_16329dac82b8fc8dd39434a0d9997f7e6" prot="public" static="no">
+        <type>::xsd::cxx::parser::xerces::flags</type>
+        <definition>typedef ::xsd::cxx::parser::xerces::flags xml_schema::flags</definition>
+        <argsstring></argsstring>
+        <name>flags</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="251" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="251" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1d16ef7d210b466b672a7633f10e22b7f" prot="public" static="no">
+        <type>::xsd::cxx::parser::xerces::properties&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::xerces::properties&lt; char &gt; xml_schema::properties</definition>
+        <argsstring></argsstring>
+        <name>properties</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="256" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="256" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="typedef" id="namespacexml__schema_1f595c611363be8bc555b70b154a56d3c" prot="public" static="no">
+        <type>::xsd::cxx::parser::xerces::document&lt; char &gt;</type>
+        <definition>typedef ::xsd::cxx::parser::xerces::document&lt; char &gt; xml_schema::document</definition>
+        <argsstring></argsstring>
+        <name>document</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="261" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="261" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="72"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classdiffbifn.xml
===================================================================
--- /doc/xml/classdiffbifn.xml (revision 187)
+++ /doc/xml/classdiffbifn.xml (revision 187)
@@ -0,0 +1,427 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classdiffbifn" kind="class" prot="public">
+    <compoundname>diffbifn</compoundname>
+    <basecompoundref refid="classfnc" prot="public" virt="non-virtual">fnc</basecompoundref>
+    <derivedcompoundref refid="classbilinfn" prot="public" virt="non-virtual">bilinfn</derivedcompoundref>
+    <derivedcompoundref refid="classIMpmsm" prot="public" virt="non-virtual">IMpmsm</derivedcompoundref>
+    <derivedcompoundref refid="classOMpmsm" prot="public" virt="non-virtual">OMpmsm</derivedcompoundref>
+    <includes refid="libFN_8h" local="no">libFN.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvx</definition>
+        <argsstring></argsstring>
+        <name>rvx</name>
+        <briefdescription>
+<para>Indentifier of the first rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="67" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indentifier of the second rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="69" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache for rvx.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" compoundref="libFN_8h" startline="91" endline="91">_dimx</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache for rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">_dimu</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">eval</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec diffbifn::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula> (VS: Do we really need common eval? ). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="76" bodyend="80"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">dimx</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec diffbifn::eval</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0)</argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da">eval</reimplementedby>
+        <reimplementedby refid="classIMpmsmStat_15ed3582c2c0edb0753387a82598f8d21">eval</reimplementedby>
+        <reimplementedby refid="classIMpmsm_145785869d978dda42828a072ec2caebe">eval</reimplementedby>
+        <reimplementedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="83" bodyend="83"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void diffbifn::dfdx_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdx_cond</name>
+        <reimplementedby refid="classOMpmsm_1b75b5fd55b2ac5ed74b5b953af122821">dfdx_cond</reimplementedby>
+        <reimplementedby refid="classIMpmsmStat_129a9c09fd328e89748d9be0801e84831">dfdx_cond</reimplementedby>
+        <reimplementedby refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1">dfdx_cond</reimplementedby>
+        <reimplementedby refid="classbilinfn_179c022de8dbe2b054bb9cc49345f3ef5">dfdx_cond</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="1">$A=\frac{d}{dx}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="85" bodyend="85"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_11978bafd7909d15c139a08c495c24aa0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void diffbifn::dfdu_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdu_cond</name>
+        <reimplementedby refid="classIMpmsmStat_1ff740ee20100ae2a2d03a2538638f8e8">dfdu_cond</reimplementedby>
+        <reimplementedby refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5">dfdu_cond</reimplementedby>
+        <reimplementedby refid="classbilinfn_190f2b15612b14883d6ed2b0e295cb82b">dfdu_cond</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="2">$A=\frac{d}{du}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="87" bodyend="87"/>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>diffbifn::diffbifn</definition>
+        <argsstring>(int dimy, const RV rvx0, const RV rvu0)</argsstring>
+        <name>diffbifn</name>
+        <param>
+          <type>int</type>
+          <declname>dimy</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor (dimy is not set!). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="89" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="89" bodyend="89"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">dimx</references>
+        <references refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" compoundref="libFN_8h" startline="69">rvu</references>
+        <references refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" compoundref="libFN_8h" startline="67">rvx</references>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimx</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimx</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="91" bodyend="91"/>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">dimx</references>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimu</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimu</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="93" bodyend="93"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">dimu</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class representing a differentiable function of two variables <formula id="47">$f(x,u)$</formula>. </para>    </briefdescription>
+    <detaileddescription>
+<para>Function of two variables.</para><para>TODO: 1) Technically, it could have a common parent (e.g. <computeroutput><ref refid="classfnc" kindref="compound">fnc</ref></computeroutput> ) with other functions. For now, we keep it as it is. 2) It could be generalized into multivariate form, (which was original meaning of <computeroutput><ref refid="classfnc" kindref="compound">fnc</ref></computeroutput> ). </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="797">
+        <label>OMpmsm</label>
+        <link refid="classOMpmsm"/>
+        <childnode refid="792" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="794">
+        <label>bilinfn</label>
+        <link refid="classbilinfn"/>
+        <childnode refid="792" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="796">
+        <label>IMpmsmStat</label>
+        <link refid="classIMpmsmStat"/>
+        <childnode refid="795" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="792">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="793" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="793">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="795">
+        <label>IMpmsm</label>
+        <link refid="classIMpmsm"/>
+        <childnode refid="792" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="800">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="798">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="799" relation="public-inheritance">
+        </childnode>
+        <childnode refid="800" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="799">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="64" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="63" bodyend="94"/>
+    <listofallmembers>
+      <member refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" virt="non-virtual"><scope>diffbifn</scope><name>_dimu</name></member>
+      <member refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" virt="non-virtual"><scope>diffbifn</scope><name>_dimx</name></member>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>diffbifn</scope><name>_dimy</name></member>
+      <member refid="classdiffbifn_11978bafd7909d15c139a08c495c24aa0" prot="public" virt="virtual"><scope>diffbifn</scope><name>dfdu_cond</name></member>
+      <member refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" prot="public" virt="virtual"><scope>diffbifn</scope><name>dfdx_cond</name></member>
+      <member refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" prot="public" virt="non-virtual"><scope>diffbifn</scope><name>diffbifn</name></member>
+      <member refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" virt="non-virtual"><scope>diffbifn</scope><name>dimu</name></member>
+      <member refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" virt="non-virtual"><scope>diffbifn</scope><name>dimx</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>diffbifn</scope><name>dimy</name></member>
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Index: /doc/xml/ekf_8cpp.xml
===================================================================
--- /doc/xml/ekf_8cpp.xml (revision 187)
+++ /doc/xml/ekf_8cpp.xml (revision 187)
@@ -0,0 +1,688 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf_8cpp" kind="file">
+    <compoundname>ekf.cpp</compoundname>
+    <includes local="no">math.h</includes>
+    <includes refid="fixed_8h" local="yes">fixed.h</includes>
+    <includes refid="reference_8h" local="yes">reference.h</includes>
+    <includes refid="matrix_8h" local="yes">matrix.h</includes>
+    <includes refid="ekf_8h" local="yes">ekf.h</includes>
+    <incdepgraph>
+      <node id="717">
+        <label>ekf.h</label>
+        <link refid="ekf_8h-source"/>
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+        <link refid="ekf.cpp"/>
+        <childnode refid="713" relation="include">
+        </childnode>
+        <childnode refid="714" relation="include">
+        </childnode>
+        <childnode refid="715" relation="include">
+        </childnode>
+        <childnode refid="716" relation="include">
+        </childnode>
+        <childnode refid="717" relation="include">
+        </childnode>
+      </node>
+      <node id="713">
+        <label>math.h</label>
+      </node>
+      <node id="715">
+        <label>reference.h</label>
+        <link refid="reference_8h-source"/>
+      </node>
+      <node id="714">
+        <label>fixed.h</label>
+        <link refid="fixed_8h-source"/>
+      </node>
+      <node id="716">
+        <label>matrix.h</label>
+        <link refid="matrix_8h-source"/>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="ekf_8cpp_105679eb18ff6f0bd4ba53411a0fe0afb" prot="public" static="no">
+        <name>K_PREVOD_FORM</name>
+        <initializer>4</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
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+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
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+      <memberdef kind="variable" id="ekf_8cpp_1415bdef5e664918e4e4b773c36f4e103" prot="public" static="no" mutable="no">
+        <type>double</type>
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+        <argsstring>[10]</argsstring>
+        <name>ladeni_EKF</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
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+        <argsstring>[8]</argsstring>
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+        <initializer>{0x7FFF,0,0,0,0,0x7FFF,0,0}</initializer>
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+        <initializer>{0x7FFF,0,0,0x7FFF,0,0,0,0}</initializer>
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+        <type>int</type>
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+        <argsstring>[16]</argsstring>
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+        <initializer>{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}</initializer>
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+        <detaileddescription>
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+      </memberdef>
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+        <initializer>{0,0,0,0}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
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+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
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+        <argsstring>[4]</argsstring>
+        <name>x_est</name>
+        <initializer>{0,0,0,0}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="47" bodyend="-1"/>
+      </memberdef>
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+        <type>int</type>
+        <definition>int x_pred[4]</definition>
+        <argsstring>[4]</argsstring>
+        <name>x_pred</name>
+        <initializer>{0,0,0,0}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="48" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_1683087dfe47600d1a450302a2ccbb836" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int P_pred[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>P_pred</name>
+        <initializer>{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="49" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_198aa9c8e8546c3990a668fa2376bd02f" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int P_est[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>P_est</name>
+        <initializer>{0x7FFF,0,0,0,0,0x7FFF,0,0,0,0,0x7FFF,0,0,0,0,0x7FFF}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="51" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="51" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_1af019cae3f3f03d594a8f549353c99e9" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int Y_mes[2]</definition>
+        <argsstring>[2]</argsstring>
+        <name>Y_mes</name>
+        <initializer>{0,0}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="52" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="52" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_16cccd275c0b11a7fac94937f2021045b" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int ukalm[2]</definition>
+        <argsstring>[2]</argsstring>
+        <name>ukalm</name>
+        <initializer>{0,0}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="53" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="53" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_1f79d2220030336cad022d159b3f8c8bb" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int Kalm[8]</definition>
+        <argsstring>[8]</argsstring>
+        <name>Kalm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="54" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="54" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_10db030b4590561a5e0a5d70223a860dd" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int PSI[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>PSI</name>
+        <initializer>{0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="56" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="56" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_17a8fbda3ee1da60e70499a79b4d3e3df" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int temp15a[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>temp15a</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
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+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="59" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="59" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_1f82c96cc9810ce86d1edec2fbf1deb6d" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int cA</definition>
+        <argsstring></argsstring>
+        <name>cA</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_1026fd8d02ce266d7a9f9bb1e233f6242" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int cB</definition>
+        <argsstring></argsstring>
+        <name>cB</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_1da52f4f6674e0f993ee24e61553e2eae" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int cC</definition>
+        <argsstring></argsstring>
+        <name>cC</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_13a4546b83055800c4658329cb2ca0b4e" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int cG</definition>
+        <argsstring></argsstring>
+        <name>cG</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf_8cpp_119c038d1a31ea4257f137481c835ea96" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int cH</definition>
+        <argsstring></argsstring>
+        <name>cH</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ekf_8cpp_1956dd7a9713816704f8ff5760e26e903" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void init_ekf</definition>
+        <argsstring>(double Tv, double *param)</argsstring>
+        <name>init_ekf</name>
+        <param>
+          <type>double</type>
+          <declname>Tv</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>param</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+<para>KONEC inicializace pro PC - az sem vyhodit v DSP /// </para>        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="65" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf_8cpp_1267ca49dd712a2b06af569b1e108976a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void ekf</definition>
+        <argsstring>(double *x_estimation, double Umd, double beta, double Ucnd, double Ucd, double isxd, double isyd)</argsstring>
+        <name>ekf</name>
+        <param>
+          <type>double *</type>
+          <declname>x_estimation</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Umd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>beta</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucnd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>isxd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>isyd</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+<para>prechod ze simulace do fixed-pointu - vyradit v DSP ///////////</para><para>KONEC emulace FIXED-POINTu - az sem vyradit v DSP //////////// </para>        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="216" bodyend="254"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf_8cpp_1bdd51eee3a5eb0a70f3d1e13b5cf2697" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void prediction</definition>
+        <argsstring>(int *ux)</argsstring>
+        <name>prediction</name>
+        <param>
+          <type>int *</type>
+          <declname>ux</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="31" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="148" bodyend="172"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf_8cpp_188642818810b8018ecbb525cad1d5c6f" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void correction</definition>
+        <argsstring>(void)</argsstring>
+        <name>correction</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="174" bodyend="213"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf_8cpp_195d9e77bdeaf5408a69d540731fd629f" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>static void update_psi</definition>
+        <argsstring>(void)</argsstring>
+        <name>update_psi</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="128" bodyend="145"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Extended<sp/>Kalman<sp/>Filter</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Kalman<sp/>Observer</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF<sp/>pocitan<sp/>s<sp/>daty<sp/>ve<sp/>formatu<sp/>Q15,<sp/>zatimco<sp/>regulace<sp/>pracuje<sp/>v<sp/>Q13<sp/>-&gt;</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>resenim<sp/>je<sp/>vynasobit<sp/>referencni<sp/>hodnoty<sp/>v<sp/>EKF<sp/>4-mi<sp/>(tim<sp/>je<sp/>automaticky</highlight></codeline>
+<codeline lineno="11"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zajisten<sp/>prechod<sp/>mezi<sp/>formaty<sp/>Q13<sp/>a<sp/>Q15).<sp/>Realizovano<sp/>konstantou<sp/>K_PREVOD_FORM.</highlight></codeline>
+<codeline lineno="12"><highlight class="comment"></highlight></codeline>
+<codeline lineno="13"><highlight class="comment">15.3.2008<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Kontrola<sp/>kodu<sp/>+<sp/>zamena<sp/>datovych<sp/>typu<sp/>q15-&gt;int<sp/>a<sp/>q30-&gt;long.</highlight></codeline>
+<codeline lineno="14"><highlight class="comment"></highlight></codeline>
+<codeline lineno="15"><highlight class="comment">*************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;fixed.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="comment">//#include<sp/>&quot;parametry_motoru.h&quot;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>aktivovat<sp/>v<sp/>DSP</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;reference.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;matrix.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;ekf.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>K_PREVOD_FORM<sp/><sp/><sp/>4<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>2^(15-Qm)</highlight></codeline>
+<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Declaration<sp/>of<sp/>global<sp/>functions<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Tv,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*x_estimation,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Umd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>beta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucnd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isxd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isyd);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Declaration<sp/>of<sp/>local<sp/>functions<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>prediction(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*ux);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>correction(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>update_psi(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//<sp/>global<sp/>variables</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_EKF[10];</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Constants<sp/>-<sp/>definovat<sp/>jako<sp/>konstanty<sp/>??<sp/>?kde<sp/>je<sp/>vyhodnejsi<sp/>aby<sp/>v<sp/>pameti<sp/>byli?*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>H[8]={0x7FFF,0,0,0,0,0x7FFF,0,0};<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[2,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ht[8]={0x7FFF,0,0,0x7FFF,0,0,0,0};</highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,2]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="comment">//static<sp/>int<sp/>Q[4][4]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};<sp/>/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="comment">//static<sp/>int<sp/>R[2][2]={0,0,0,0};<sp/>/*<sp/>matrix<sp/>[2,2]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Q[16]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>R[4]={0,0,0,0};<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[2,2]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Initial<sp/>conditions<sp/>and<sp/>variables<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x_est[4]={0,0,0,0};</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x_pred[4]={0,0,0,0};</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>P_pred[16]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="comment">//static<sp/>int<sp/>P_est[16]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};<sp/>/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>P_est[16]={0x7FFF,0,0,0,0,0x7FFF,0,0,0,0,0x7FFF,0,0,0,0,0x7FFF};<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Y_mes[2]={0,0};</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ukalm[2]={0,0};</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Kalm[8];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[5,2]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>PSI[16]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Temporary<sp/>variables<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>temp15a[16];</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="comment">//<sp/>constants<sp/>of<sp/>PMSM<sp/>mathematical<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>cA,<sp/>cB,<sp/>cC,<sp/>cG,<sp/>cH;<sp/><sp/></highlight><highlight class="comment">//<sp/>cD,<sp/>cE,<sp/>cF,<sp/>cI<sp/>...<sp/>nepouzivane</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Tv,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param)</highlight></codeline>
+<codeline lineno="66"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>parametry<sp/>simulace<sp/>-<sp/>v<sp/>DSP<sp/>vyhodit<sp/>(nahrazeno<sp/>&quot;parametry_motoru.h&quot;)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,<sp/>Ls,<sp/>Fmag,<sp/>kp,<sp/>p;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/></highlight><highlight class="comment">//<sp/>param=[Rs,<sp/>Ls,<sp/>Fmag,<sp/>Bf,<sp/>p,<sp/>kp,<sp/>J<sp/>=<sp/>0.04?];</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/>Rs=*param;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/>Ls=*(param+1);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/>Fmag=*(param+2);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/>p=*(param+4);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/>kp=*(param+5);</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Tuning<sp/>of<sp/>matrix<sp/>Q</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>Q[0][0]=prevod(.05,15);<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>1e-2</highlight></codeline>
+<codeline lineno="80"><highlight class="comment"><sp/><sp/>Q[1][1]=Q[0][0];</highlight></codeline>
+<codeline lineno="81"><highlight class="comment"><sp/><sp/>Q[2][2]=prevod(1e-3,15);<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>10e-5</highlight></codeline>
+<codeline lineno="82"><highlight class="comment"><sp/><sp/>Q[3][3]=prevod(1e-3,15);<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>model(ureg)<sp/>...<sp/>4e-3</highlight></codeline>
+<codeline lineno="83"><highlight class="comment"></highlight></codeline>
+<codeline lineno="84"><highlight class="comment"><sp/><sp/>//<sp/>Tuning<sp/>of<sp/>matrix<sp/>R</highlight></codeline>
+<codeline lineno="85"><highlight class="comment"><sp/><sp/>R[0][0]=prevod(0.05,15);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>model(ureg)<sp/>...<sp/>0.1</highlight></codeline>
+<codeline lineno="86"><highlight class="comment"><sp/><sp/>R[1][1]=R[0][0];</highlight></codeline>
+<codeline lineno="87"><highlight class="comment">/**/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Tuning<sp/>of<sp/>matrix<sp/>Q</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/>Q[0]=prevod(.01,15);<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>0.05</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/>Q[5]=Q[0];</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/>Q[10]=prevod(0.0001,15);<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1e-3</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/>Q[15]=prevod(0.0001,15);<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1e-3</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Tuning<sp/>of<sp/>matrix<sp/>R</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/>R[0]=prevod(0.05,15);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>0.05</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/>R[3]=R[0];</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>Tuning<sp/>of<sp/>matrix<sp/>P_est<sp/>-<sp/>initial<sp/>values<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/>P_est[0][0]=prevod(0.999,15);</highlight></codeline>
+<codeline lineno="102"><highlight class="comment"><sp/><sp/><sp/><sp/>P_est[1][1]=prevod(0.999,15);</highlight></codeline>
+<codeline lineno="103"><highlight class="comment"><sp/><sp/><sp/><sp/>P_est[2][2]=prevod(0.999,15);</highlight></codeline>
+<codeline lineno="104"><highlight class="comment"><sp/><sp/><sp/><sp/>P_est[3][3]=prevod(0.999,15);</highlight></codeline>
+<codeline lineno="105"><highlight class="comment"><sp/><sp/><sp/><sp/>P_est[4][4]=prevod(0.999,15);</highlight></codeline>
+<codeline lineno="106"><highlight class="comment">/**/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Motor<sp/>model<sp/>parameters<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/>cA=prevod(1-Tv*Rs/Ls,15);</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/>cB=prevod(Tv*Wref*Fmag/Iref/Ls,15);</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/>cC=prevod(Tv/Ls/Iref*Uref,15);</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cD=prevod(1-Tv*Bf/J,15);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cE=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref,15);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cF=prevod(p*Tv*Mref/J/Wref,15);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/>cG=prevod(Tv*Wref*K_PREVOD_FORM/Thetaref,15);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/>cH=prevod(Tv*Wref*Fmag/Iref/Ls*Thetaref,15);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>cI=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref*Thetaref);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>Init<sp/>matrix<sp/>PSI<sp/>with<sp/>permanently<sp/>constant<sp/>terms<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/>PSI[0]=cA;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/>PSI[5]=PSI[0];</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/>PSI[10]=0x7FFF;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/>PSI[14]=cG;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/>PSI[15]=0x7FFF;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>update_psi(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="129"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t_sin,t_cos,tmp;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>v<sp/>PC</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/>t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/>t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>v<sp/>DSP</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>t_sin=qsin(x_est[3]);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>t_cos=qcos(x_est[3]);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/>PSI[2]=((long)cB*t_sin)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/>tmp=((long)cH*x_est[2])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/>PSI[3]=((long)tmp*t_cos)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/>PSI[6]=-((long)cB*t_cos)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/>PSI[7]=((long)tmp*t_sin)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="145"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>prediction(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*ux)</highlight></codeline>
+<codeline lineno="149"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t_sin,t_cos,<sp/>tmp;</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>v<sp/>PC</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/>t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/>t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15);</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>v<sp/>DSP</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>t_sin=qsin(x_est[3]);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>t_cos=qcos(x_est[3]);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/>tmp=((long)cB*x_est[2])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/>x_pred[0]=((long)cA*x_est[0]+(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal">)tmp*t_sin+(long)cC*ux[0])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/>x_pred[1]=((long)cA*x_est[1]-(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal">)tmp*t_cos+(long)cC*ux[1])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/>x_pred[2]=x_est[2];</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/>x_pred[3]=(((long)x_est[3]&lt;&lt;15)+(long)cG*x_est[2])&gt;&gt;15;</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/>update_psi();</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"></highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/>mmult(PSI,P_est,temp15a,3,3,3);</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>mtrans(PSI,temp15b,5,5);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/>mmultt(temp15a,PSI,P_pred,3,3,3);</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/>maddD(P_pred,Q,3,3);</highlight></codeline>
+<codeline lineno="172"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"></highlight></codeline>
+<codeline lineno="174"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>correction(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="175"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Y_error[2];</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>temp30a[4];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[2,2]<sp/>-<sp/>temporary<sp/>matrix<sp/>for<sp/>inversion<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>Kalman<sp/>gain<sp/>calculation<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>mmult(P_pred,Ht,temp15a,5,5,2);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>mmultt(P_pred,H,temp15a,4,4,1);</highlight></codeline>
+<codeline lineno="182"><highlight class="comment"><sp/><sp/>mmult(H,temp15a,temp15b,1,4,1);<sp/><sp/><sp/><sp/><sp/><sp/><sp/>these<sp/>lines<sp/>are<sp/>replaced<sp/>by<sp/>choice_P<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/>choice_P(P_pred,temp15a,3);</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/>maddD(temp15a,R,1,1);</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/>minv2(temp15a,temp30a);</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>mmultt(P_pred,H,temp15a,4,4,1);<sp/><sp/><sp/><sp/><sp/>/*<sp/>remove<sp/>this<sp/>line<sp/>if<sp/>choice_P<sp/>is<sp/>not<sp/>used<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="188"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>mmultDr15(P_pred,Ht,temp15a,4,4,1,1);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/>mmultDr(P_pred,temp15a,3,3,1,1);</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/>mmult1530(temp15a,temp30a,Kalm,3,1,1);</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"></highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>estimate<sp/>the<sp/>state<sp/>system<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="193"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>mmult(H,x_pred,temp15a,1,4,0);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/>choice_x(x_pred,<sp/>temp15a);</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/>msub(Y_mes,temp15a,Y_error,1,0);</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/>mmult(Kalm,Y_error,temp15a,3,1,0);</highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/>madd(x_pred,temp15a,x_est,3,0);</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>of<sp/>covariances<sp/>-<sp/>version<sp/>without<sp/>MMULTDL()<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="200"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>mmult(Kalm,H,temp15a,4,1,4);</highlight></codeline>
+<codeline lineno="201"><highlight class="comment"><sp/><sp/>mmult(temp15a,P_pred,P_est,4,4,4);</highlight></codeline>
+<codeline lineno="202"><highlight class="comment"><sp/><sp/>msub(P_pred,P_est,P_est,4,4);</highlight></codeline>
+<codeline lineno="203"><highlight class="comment">/*<sp/>END<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="204"><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Version<sp/>with<sp/>MMULTDL()<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/>mmultDl(P_pred,temp15a,1,3,3,1);</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>if<sp/>result<sp/>matrix<sp/>has<sp/>more<sp/>terms<sp/>than<sp/>DIAG<sp/>matrix,it<sp/>is<sp/>necessary<sp/>to<sp/>enable</highlight></codeline>
+<codeline lineno="208"><highlight class="comment">erase<sp/>sequence<sp/>in<sp/>definition<sp/>of<sp/>function<sp/>MMULTDL()<sp/>that<sp/>is<sp/>currently<sp/>disabled.<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"></highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/>mmult(Kalm,temp15a,P_est,3,1,3);</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/>msub(P_pred,P_est,P_est,3,3);</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>END<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="213"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"></highlight></codeline>
+<codeline lineno="215"><highlight class="normal"></highlight></codeline>
+<codeline lineno="216"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*x_estimation,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Umd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>beta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucnd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isxd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isyd)</highlight></codeline>
+<codeline lineno="217"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Umk,<sp/>ua,<sp/>ub;</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"></highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Um,<sp/>Ucn,<sp/>Uc,<sp/>isx,<sp/>isy,<sp/>t_cos;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/>Um=prevod(Umd/Uref,Qm);</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/>Ucn=prevod(Ucnd/Uref,Qm);</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/>Uc=prevod(Ucd/Uref,Qm);</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/>isx=prevod(isxd/Iref,Qm);</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/>isy=prevod(isyd/Iref,Qm);</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"></highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>prepocet<sp/>napeti<sp/>pro<sp/>EKF<sp/>dle<sp/>skutecneho<sp/>napeti<sp/>v<sp/>ss<sp/>obvodu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/>Umk=((long)Um*Uc)/Ucn;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"></highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>fazovych<sp/>napeti<sp/>stridace</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/>ua=((long)Umk*prevod(cos(beta),15))&gt;&gt;15;</highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/>ub=((long)Umk*prevod(cos(beta-2./3.*M_PI),15))&gt;&gt;15;</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>uc=((long)Umk*prevod(cos(beta+2./3.*M_PI),15))&gt;&gt;15;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="237"><highlight class="normal"></highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>napeti<sp/>v<sp/>systemu<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/>ukalm[0]=ua;</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/>ukalm[1]=(((long)ua+ub&lt;&lt;1)*18917)&gt;&gt;15;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usy=(ua+2*ub)/sqrt(3)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"></highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>zadani<sp/>mereni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/>Y_mes[0]=isx;</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/>Y_mes[1]=isy;</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"></highlight></codeline>
+<codeline lineno="247"><highlight class="normal"><sp/><sp/>prediction(ukalm);</highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/>correction();</highlight></codeline>
+<codeline lineno="249"><highlight class="normal"></highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>navrat<sp/>estimovanych<sp/>hodnot<sp/>regulatoru</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/>*x_estimation=zprevod(x_est[2],Qm)*Wref;</highlight></codeline>
+<codeline lineno="252"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>x_est[3]=(short<sp/>int)x_est[3];</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/>*(x_estimation+1)=zprevod((</highlight><highlight class="keywordtype">short</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal">)x_est[3],15)*Thetaref;</highlight></codeline>
+<codeline lineno="254"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classGlobalXercesConnector_1_1Comparator.xml
===================================================================
--- /doc/xml/classGlobalXercesConnector_1_1Comparator.xml (revision 187)
+++ /doc/xml/classGlobalXercesConnector_1_1Comparator.xml (revision 187)
@@ -0,0 +1,37 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classGlobalXercesConnector_1_1Comparator" kind="class" prot="public">
+    <compoundname>GlobalXercesConnector::Comparator</compoundname>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classGlobalXercesConnector_1_1Comparator_16bdd8c42a93c908fea75ed1b4dd54752" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool GlobalXercesConnector::Comparator::operator()</definition>
+        <argsstring>(const XMLCh *const a, const XMLCh *const b) const </argsstring>
+        <name>operator()</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>a</declname>
+        </param>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>b</declname>
+        </param>
+        <briefdescription>
+<para>operator compares two XMLCh strings and wheather the first is alphabethically higher </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="56" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="53" bodyend="56"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="53" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="52" bodyend="57"/>
+    <listofallmembers>
+      <member refid="classGlobalXercesConnector_1_1Comparator_16bdd8c42a93c908fea75ed1b4dd54752" prot="public" virt="non-virtual"><scope>GlobalXercesConnector::Comparator</scope><name>operator()</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/indexpage.xml
===================================================================
--- /doc/xml/indexpage.xml (revision 187)
+++ /doc/xml/indexpage.xml (revision 187)
@@ -0,0 +1,35 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="indexpage" kind="page">
+    <compoundname>index</compoundname>
+    <title>Bayesian Decision-Making toolbox for C++</title>
+    <detaileddescription>
+<para><simplesect kind="version"><para>0.1</para></simplesect>
+<simplesect kind="author"><para>Vaclav Smidl</para></simplesect>
+BDM is a collection of methods for selected tasks of Bayesian decision-making, such as estimation, filtering and control.</para><sect1 id="index_1Approach">
+<title>Approach</title>
+<para>The toolbox is designed using two design criteria: <itemizedlist>
+<listitem><para>relation to mathematics, </para></listitem>
+<listitem><para>efficient evaluation, while the first one is more important than the latter.</para></listitem>
+</itemizedlist>
+Hence, each mathematical object such as probability density is represented by one software object. The resulting algorithms are then implemented as operations on these objects. In cases when more efficient solution can be achived when this structure is not respected, a parallel implementation is created and clearly marked as specific.</para></sect1>
+<sect1 id="index_1Methods">
+<title>Methods</title>
+<para>At present we support the following methods: <itemizedlist>
+<listitem><para>Estimation: <ref refid="classARX" kindref="compound">ARX</ref> models </para></listitem>
+<listitem><para>Filtering: <ref refid="classKalman" kindref="compound">Kalman</ref> filtering, Extended Kalman filters (<ref refid="classEKF" kindref="compound">EKF</ref>), Particle filters (<ref refid="classPF" kindref="compound">PF</ref>), Marginalized Particle filters (<ref refid="classMPF" kindref="compound">MPF</ref>). </para></listitem>
+<listitem><para>Desing: None.</para></listitem>
+</itemizedlist>
+</para></sect1>
+<sect1 id="index_1Implementation">
+<title>Implementation</title>
+<para>BDM is build on top of <computeroutput>IT++</computeroutput> which wraps numerically efficient operations of linear algebra into easy to use C++ classes. Thanks to this excellent library, writing of numerical algorithms is as easy as in Matlab but we gain significant advantages:</para><para><itemizedlist>
+<listitem><para>computational speed comparable to built-in Matlab function, and surpassing interpreted Matlab in order of magnitudes, </para></listitem>
+<listitem><para>native support for object-oriented programming, </para></listitem>
+<listitem><para>support for templates which is often more appropriate than object-oriented programming, </para></listitem>
+<listitem><para>cross-platform compatibility. </para></listitem>
+</itemizedlist>
+</para></sect1>
+    </detaileddescription>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classlogger.xml
===================================================================
--- /doc/xml/classlogger.xml (revision 187)
+++ /doc/xml/classlogger.xml (revision 187)
@@ -0,0 +1,181 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classlogger" kind="class" prot="public">
+    <compoundname>logger</compoundname>
+    <derivedcompoundref refid="classmemlog" prot="public" virt="non-virtual">memlog</derivedcompoundref>
+    <includes refid="loggers_8h" local="no">loggers.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classlogger_183eea0cf4fbca59474d015f751f128a7" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classRV" kindref="compound">RV</ref> &gt;</type>
+        <definition>Array&lt;RV&gt; logger::entries</definition>
+        <argsstring></argsstring>
+        <name>entries</name>
+        <briefdescription>
+<para>RVs of all logged variables. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="31" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="31" bodyend="-1"/>
+        <referencedby refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" compoundref="loggers_8h" startline="39" endline="45">add</referencedby>
+        <referencedby refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">memlog::init</referencedby>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">dirfilelog::init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">memlog::itsave</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">dirfilelog::write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" prot="protected" static="no" mutable="no">
+        <type>Array&lt; string &gt;</type>
+        <definition>Array&lt;string&gt; logger::names</definition>
+        <argsstring></argsstring>
+        <name>names</name>
+        <briefdescription>
+<para>Names of logged quantities, e.g. names of algorithm variants. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="33" bodyend="-1"/>
+        <referencedby refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" compoundref="loggers_8h" startline="39" endline="45">add</referencedby>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">dirfilelog::init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">memlog::itsave</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classlogger_14f753a510e00c892b38e95c2284363a6" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>logger::logger</definition>
+        <argsstring>()</argsstring>
+        <name>logger</name>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="36" bodyend="36"/>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>int</type>
+        <definition>virtual int logger::add</definition>
+        <argsstring>(const RV &amp;rv, string name=&quot;&quot;)</argsstring>
+        <name>add</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>name</declname>
+          <defval>&quot;&quot;</defval>
+        </param>
+        <briefdescription>
+<para>returns an identifier which will be later needed for calling the log() function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="39" bodyend="45"/>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">entries</references>
+        <references refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" compoundref="loggers_8h" startline="33">names</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_1efb5a59cb329f58810b09bd9cc270b78" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void logger::logit</definition>
+        <argsstring>(int id, vec v)=0</argsstring>
+        <name>logit</name>
+        <reimplementedby refid="classmemlog_18d2feeb826f7249e9104d616b5a67144">logit</reimplementedby>
+        <param>
+          <type>int</type>
+          <declname>id</declname>
+        </param>
+        <param>
+          <type>vec</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>log this vector </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="48"/>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_1709b3ebefa0da3ed371aa802b06512a2" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void logger::step</definition>
+        <argsstring>()=0</argsstring>
+        <name>step</name>
+        <reimplementedby refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7">step</reimplementedby>
+        <reimplementedby refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804">step</reimplementedby>
+        <briefdescription>
+<para>Shifts storage position for another time step. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="51"/>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_151c1aa8a84a14097b51607a187ae3617" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void logger::finalize</definition>
+        <argsstring>()</argsstring>
+        <name>finalize</name>
+        <reimplementedby refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a">finalize</reimplementedby>
+        <briefdescription>
+<para>Finalize storing information. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="54" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="54" bodyend="54"/>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_192c63a0a87392c62b9ed3c00faa9d5df" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual logger::~logger</definition>
+        <argsstring>()</argsstring>
+        <name>~logger</name>
+        <briefdescription>
+<para>for future use </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="57" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="57" bodyend="57"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class for storing results (and semi-results) of an experiment. </para>    </briefdescription>
+    <detaileddescription>
+<para>This class abstracts logging of results from implementation. This class replaces direct logging of results (e.g. to files or to global variables) by calling methods of a <ref refid="classlogger" kindref="compound">logger</ref>. Specializations of this abstract class for specific storage method are designed. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1162">
+        <label>memlog</label>
+        <link refid="classmemlog"/>
+        <childnode refid="1161" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1163">
+        <label>dirfilelog</label>
+        <link refid="classdirfilelog"/>
+        <childnode refid="1162" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1161">
+        <label>logger</label>
+        <link refid="classlogger"/>
+      </node>
+    </inheritancegraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="28" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="28" bodyend="58"/>
+    <listofallmembers>
+      <member refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" prot="public" virt="virtual"><scope>logger</scope><name>add</name></member>
+      <member refid="classlogger_183eea0cf4fbca59474d015f751f128a7" prot="protected" virt="non-virtual"><scope>logger</scope><name>entries</name></member>
+      <member refid="classlogger_151c1aa8a84a14097b51607a187ae3617" prot="public" virt="virtual"><scope>logger</scope><name>finalize</name></member>
+      <member refid="classlogger_14f753a510e00c892b38e95c2284363a6" prot="public" virt="non-virtual"><scope>logger</scope><name>logger</name></member>
+      <member refid="classlogger_1efb5a59cb329f58810b09bd9cc270b78" prot="public" virt="pure-virtual"><scope>logger</scope><name>logit</name></member>
+      <member refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" prot="protected" virt="non-virtual"><scope>logger</scope><name>names</name></member>
+      <member refid="classlogger_1709b3ebefa0da3ed371aa802b06512a2" prot="public" virt="pure-virtual"><scope>logger</scope><name>step</name></member>
+      <member refid="classlogger_192c63a0a87392c62b9ed3c00faa9d5df" prot="public" virt="virtual"><scope>logger</scope><name>~logger</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEKFful__unQR.xml
===================================================================
--- /doc/xml/classEKFful__unQR.xml (revision 187)
+++ /doc/xml/classEKFful__unQR.xml (revision 187)
@@ -0,0 +1,733 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEKFful__unQR" kind="class" prot="public">
+    <compoundname>EKFful_unQR</compoundname>
+    <basecompoundref refid="classEKFfull" prot="public" virt="non-virtual">EKFfull</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+    <includes refid="ekf__templ_8h" local="no">ekf_templ.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EKFful_unQR::EKFful_unQR</definition>
+        <argsstring>(RV rx, RV ry, RV ru, RV rQR)</argsstring>
+        <name>EKFful_unQR</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ry</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ru</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rQR</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" line="24" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" bodystart="24" bodyend="24"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void EKFful_unQR::condition</definition>
+        <argsstring>(const vec &amp;QR0)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" line="25" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" bodystart="25" bodyend="28"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::set_parameters</definition>
+        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const mat Q0, const mat R0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>pfxu</declname>
+        </param>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>phxu</declname>
+        </param>
+        <param>
+          <type>const mat</type>
+          <declname>Q0</declname>
+        </param>
+        <param>
+          <type>const mat</type>
+          <declname>R0</declname>
+        </param>
+        <briefdescription>
+<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="182" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="66" bodyend="84"/>
+        <references refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</references>
+        <references refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classKalmanFull_113a041cd98ff157703766be275a657bb">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="86" bodyend="114"/>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
+        <references refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" compoundref="libEF_8h" startline="103" endline="103">enorm&lt; sq_T &gt;::set_mu</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::set_est</definition>
+        <argsstring>(vec mu0, mat P0)</argsstring>
+        <name>set_est</name>
+        <param>
+          <type>vec</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>set estimates </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="186" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="186" bodyend="186"/>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; EKFfull::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>dummy! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="188" bodyend="188"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BMcond::_rvc</definition>
+        <argsstring>() const </argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Pp</definition>
+        <argsstring></argsstring>
+        <name>_Pp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_iRy</definition>
+        <argsstring></argsstring>
+        <name>_iRy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BMcond::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>Identificator of the conditioning variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
+        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">BMcond::_rvc</referencedby>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec KalmanFull::mu</definition>
+        <argsstring></argsstring>
+        <name>mu</name>
+        <briefdescription>
+<para>Mean value of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="37" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::P</definition>
+        <argsstring></argsstring>
+        <name>P</name>
+        <briefdescription>
+<para>Variance of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="39" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool KalmanFull::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="41" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double KalmanFull::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="friend">
+      <memberdef kind="friend" id="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>friend std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const KalmanFull &amp;kf)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classKalmanFull" kindref="compound">KalmanFull</ref> &amp;</type>
+          <declname>kf</declname>
+        </param>
+        <briefdescription>
+<para>print elements of KF </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="49" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="56" bodyend="59"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> filter with unknown <computeroutput>Q</computeroutput> and <computeroutput>R</computeroutput>. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="960">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="957">
+        <label>EKFful_unQR</label>
+        <link refid="classEKFful__unQR"/>
+        <childnode refid="958" relation="public-inheritance">
+        </childnode>
+        <childnode refid="961" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="958">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="959" relation="public-inheritance">
+        </childnode>
+        <childnode refid="960" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="961">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+      </node>
+      <node id="959">
+        <label>KalmanFull</label>
+        <link refid="classKalmanFull"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="974">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="970" relation="public-inheritance">
+        </childnode>
+        <childnode refid="975" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="975">
+        <label>sq_T</label>
+      </node>
+      <node id="971">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="966" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="965">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="966" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="972">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="973" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="969">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="970" relation="public-inheritance">
+        </childnode>
+        <childnode refid="972" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="974" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="966">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="973">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="967">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="968" relation="public-inheritance">
+        </childnode>
+        <childnode refid="966" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="962">
+        <label>EKFful_unQR</label>
+        <link refid="classEKFful__unQR"/>
+        <childnode refid="963" relation="public-inheritance">
+        </childnode>
+        <childnode refid="976" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="968">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="970">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="971" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="963">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="964" relation="public-inheritance">
+        </childnode>
+        <childnode refid="965" relation="public-inheritance">
+        </childnode>
+        <childnode refid="967" relation="usage">
+          <edgelabel>pfxu
+phxu</edgelabel>
+        </childnode>
+        <childnode refid="969" relation="usage">
+          <edgelabel>E</edgelabel>
+        </childnode>
+      </node>
+      <node id="976">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+        <childnode refid="966" relation="usage">
+          <edgelabel>rvc</edgelabel>
+        </childnode>
+      </node>
+      <node id="964">
+        <label>KalmanFull</label>
+        <link refid="classKalmanFull"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" line="21" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" bodystart="21" bodyend="29"/>
+    <listofallmembers>
+      <member refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" virt="virtual"><scope>EKFful_unQR</scope><name>_epdf</name></member>
+      <member refid="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>_iRy</name></member>
+      <member refid="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>_ll</name></member>
+      <member refid="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>_Pp</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>_rv</name></member>
+      <member refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>_rvc</name></member>
+      <member refid="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>_Ry</name></member>
+      <member refid="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>A</name></member>
+      <member refid="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>B</name></member>
+      <member refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>EKFful_unQR</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>BM</name></member>
+      <member refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>BMcond</name></member>
+      <member refid="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>C</name></member>
+      <member refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" prot="public" virt="virtual"><scope>EKFful_unQR</scope><name>condition</name></member>
+      <member refid="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>D</name></member>
+      <member refid="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>dimu</name></member>
+      <member refid="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>dimx</name></member>
+      <member refid="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>dimy</name></member>
+      <member refid="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>EKFful_unQR</name></member>
+      <member refid="classEKFfull_167ac4de96fd025197da767fe0472c7f7" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>EKFfull</name></member>
+      <member refid="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" virt="non-virtual" ambiguityscope="KalmanFull::"><scope>EKFful_unQR</scope><name>evalll</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKFful_unQR</scope><name>evalll</name></member>
+      <member refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" virt="non-virtual" ambiguityscope="KalmanFull::"><scope>EKFful_unQR</scope><name>ll</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKFful_unQR</scope><name>ll</name></member>
+      <member refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>mu</name></member>
+      <member refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>operator&lt;&lt;</name></member>
+      <member refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>P</name></member>
+      <member refid="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>Q</name></member>
+      <member refid="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>rv</name></member>
+      <member refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>rvc</name></member>
+      <member refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>set_est</name></member>
+      <member refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKFful_unQR</scope><name>~BM</name></member>
+      <member refid="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" virt="virtual"><scope>EKFful_unQR</scope><name>~BMcond</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/combine.xslt
===================================================================
--- /doc/xml/combine.xslt (revision 187)
+++ /doc/xml/combine.xslt (revision 187)
@@ -0,0 +1,15 @@
+<!-- XSLT script to combine the generated output into a single file. 
+     If you have xsltproc you could use:
+     xsltproc combine.xslt index.xml >all.xml
+-->
+<xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform" version="1.0">
+  <xsl:output method="xml" version="1.0" indent="yes" standalone="yes" />
+  <xsl:template match="/">
+    <doxygen version="{doxygenindex/@version}">
+      <!-- Load all doxgen generated xml files -->
+      <xsl:for-each select="doxygenindex/compound">
+        <xsl:copy-of select="document( concat( @refid, '.xml' ) )/doxygen/*" />
+      </xsl:for-each>
+    </doxygen>
+  </xsl:template>
+</xsl:stylesheet>
Index: /doc/xml/testEpdf_8cpp.xml
===================================================================
--- /doc/xml/testEpdf_8cpp.xml (revision 187)
+++ /doc/xml/testEpdf_8cpp.xml (revision 187)
@@ -0,0 +1,116 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testEpdf_8cpp" kind="file">
+    <compoundname>testEpdf.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libEF_8h" local="no">stat/libEF.h</includes>
+    <incdepgraph>
+      <node id="861">
+        <label>work/git/mixpp/tests/testEpdf.cpp</label>
+        <link refid="testEpdf.cpp"/>
+        <childnode refid="862" relation="include">
+        </childnode>
+        <childnode refid="863" relation="include">
+        </childnode>
+      </node>
+      <node id="865">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="862" relation="include">
+        </childnode>
+      </node>
+      <node id="866">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="862" relation="include">
+        </childnode>
+      </node>
+      <node id="863">
+        <label>stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="862" relation="include">
+        </childnode>
+        <childnode refid="864" relation="include">
+        </childnode>
+        <childnode refid="865" relation="include">
+        </childnode>
+        <childnode refid="866" relation="include">
+        </childnode>
+      </node>
+      <node id="862">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="864">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="862" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testEpdf_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testEpdf.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/testEpdf.cpp" bodystart="11" bodyend="42"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">stat/libEF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>x<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;-10:0.1:10&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;-10:0.1:10&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rv<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{x<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;5<sp/>-0.05;<sp/>-0.05<sp/>5.20&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>R<sp/>=<sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>(<sp/>V0<sp/>);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;======<sp/>ENorm<sp/>======<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm&lt;fsqmat&gt;</ref><sp/>eN<sp/>(<sp/>rv<sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eN.set_parameters<sp/>(<sp/>mu0,R<sp/>);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pdf<sp/>=<sp/>zeros<sp/>(<sp/>x.length()<sp/>);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>suma=0.0;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;x.length();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>j=0;j&lt;y.length();j++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pom<sp/>(<sp/>0<sp/>)<sp/>=<sp/>x<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pom<sp/>(<sp/>1<sp/>)<sp/>=<sp/>y<sp/>(<sp/>j<sp/>);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>suma+=<sp/>eN.eval<sp/>(<sp/>pom<sp/>);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>suma<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testEpdf.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_0134fa0f637ecd0cba8ffb696b394d60.xml
===================================================================
--- /doc/xml/dir_0134fa0f637ecd0cba8ffb696b394d60.xml (revision 187)
+++ /doc/xml/dir_0134fa0f637ecd0cba8ffb696b394d60.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_0134fa0f637ecd0cba8ffb696b394d60" kind="dir">
+    <compoundname>work/mixpp/pmsm/simulator_zdenek/demo_example/data/</compoundname>
+    <innerfile refid="demo__example_2data_2kresli__ladeni_8m">kresli_ladeni.m</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/pmsm/simulator_zdenek/demo_example/data/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_0d189a467c95466b3579c34b36d3af26.xml
===================================================================
--- /doc/xml/dir_0d189a467c95466b3579c34b36d3af26.xml (revision 187)
+++ /doc/xml/dir_0d189a467c95466b3579c34b36d3af26.xml (revision 187)
@@ -0,0 +1,17 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_0d189a467c95466b3579c34b36d3af26" kind="dir">
+    <compoundname>work/git/mixpp/</compoundname>
+    <innerdir refid="dir_3f7515c2f3ce4af904da687b81ee06c5">work/git/mixpp/bdm/</innerdir>
+    <innerdir refid="dir_9c0bd99393692affed99ff90b134972b">work/git/mixpp/CMakeFiles/</innerdir>
+    <innerdir refid="dir_2d14b206e8adc4305192b33e5248c1dc">work/git/mixpp/matlab/</innerdir>
+    <innerdir refid="dir_6822becb2e0478d2264ac4a66e4bf4a2">work/git/mixpp/mpdm/</innerdir>
+    <innerdir refid="dir_6dff9d17d7528c4cfcadf5176b9e3a6a">work/git/mixpp/pmsm/</innerdir>
+    <innerdir refid="dir_2493bdd1bbbe9d69651cba4e8a34b19a">work/git/mixpp/tests/</innerdir>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libBM_8cpp.xml
===================================================================
--- /doc/xml/libBM_8cpp.xml (revision 187)
+++ /doc/xml/libBM_8cpp.xml (revision 187)
@@ -0,0 +1,285 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libBM_8cpp" kind="file">
+    <compoundname>libBM.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">libBM.h</includes>
+    <includes refid="itpp__ext_8h" local="yes">../itpp_ext.h</includes>
+    <incdepgraph>
+      <node id="352">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="351" relation="include">
+        </childnode>
+      </node>
+      <node id="353">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="351" relation="include">
+        </childnode>
+      </node>
+      <node id="350">
+        <label>work/git/mixpp/bdm/stat/libBM.cpp</label>
+        <link refid="libBM.cpp"/>
+        <childnode refid="351" relation="include">
+        </childnode>
+        <childnode refid="352" relation="include">
+        </childnode>
+        <childnode refid="353" relation="include">
+        </childnode>
+      </node>
+      <node id="351">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="libBM_8cpp_1b056a976f7cfaf78d33b30a8545f8fc4" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int RVcounter</definition>
+        <argsstring></argsstring>
+        <name>RVcounter</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" line="9" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="9" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="libBM_8cpp_1cad6f15535d10437f6690cb4492176a8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const RV &amp;rv)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" line="120" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="120" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="libBM_8cpp_133c114e83980d883c5b211c47d5322a4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV concat</definition>
+        <argsstring>(const RV &amp;rv1, const RV &amp;rv2)</argsstring>
+        <name>concat</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv1</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv2</declname>
+        </param>
+        <briefdescription>
+<para>Concat two random variables. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" line="177" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="177" bodyend="181"/>
+        <references refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">RV::add</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libBM_8h" kindref="compound" tooltip="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../itpp_ext.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>RVcounter=0;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>RV::init<sp/>(<sp/>ivec<sp/>in_ids,<sp/>Array&lt;std::string&gt;<sp/>in_names,<sp/>ivec<sp/>in_sizes,<sp/>ivec<sp/>in_times<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Refer</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>=<sp/>in_ids.length();</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//PRUDENT_MODE</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>All<sp/>vetors<sp/>should<sp/>be<sp/>of<sp/>same<sp/>length</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>(<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>!=<sp/>in_names.length()<sp/>)<sp/>||<sp/>\</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>!=<sp/>in_sizes.length()<sp/>)<sp/>||<sp/>\</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>!=<sp/>in_times.length()<sp/>)<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;RV::RV<sp/>inconsistent<sp/>length<sp/>of<sp/>input<sp/>vectors.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>=<sp/>in_ids;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>=<sp/>in_names;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>=<sp/>in_sizes;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>=<sp/>in_times;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref><sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref>;i++<sp/>)<sp/>{<ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref><sp/>+=<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>i<sp/>);}</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31" refid="classRV_1bedfd8d197f0a7ac28a4d412dfc5b8af" refkind="member"><highlight class="normal"><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV::RV</ref><sp/>(<sp/>Array&lt;std::string&gt;<sp/>in_names,<sp/>ivec<sp/>in_sizes,<sp/>ivec<sp/>in_times<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>=<sp/>in_names.length();</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>init<sp/>(<sp/>linspace<sp/>(<sp/>RVcounter+1,<sp/>RVcounter+len<sp/>),<sp/>in_names,<sp/>in_sizes,<sp/>in_times<sp/>);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>RVcounter+=len;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37" refid="classRV_17b88a74204fdf044e02f2807769839b7" refkind="member"><highlight class="normal"><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV::RV</ref><sp/>(<sp/>Array&lt;std::string&gt;<sp/>in_names,<sp/>ivec<sp/>in_sizes<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>=<sp/>in_names.length();</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>init<sp/>(<sp/>linspace<sp/>(<sp/>RVcounter+1,<sp/>RVcounter+len<sp/>),<sp/>in_names,<sp/>in_sizes,<sp/>zeros_i<sp/>(<sp/>in_names.length()<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>RVcounter+=len;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="43" refid="classRV_1261702f85831392d7d67e2bcf0b69960" refkind="member"><highlight class="normal"><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV::RV</ref><sp/>(<sp/>Array&lt;std::string&gt;<sp/>in_names<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>=<sp/>in_names.length();</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>init<sp/>(<sp/>linspace<sp/>(<sp/>RVcounter+1,<sp/>RVcounter+len<sp/>),<sp/>in_names,<sp/>ones_i<sp/>(<sp/>in_names.length()<sp/>),<sp/>zeros_i<sp/>(<sp/>in_names.length()<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>RVcounter+=len;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49" refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" refkind="member"><highlight class="normal"><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV::RV</ref>()<sp/>:<sp/><ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref><sp/>(<sp/>0<sp/>),<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>(<sp/>0<sp/>),<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>0<sp/>),<sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>(<sp/>0<sp/>),<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>0<sp/>),<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight></codeline>
+<codeline lineno="51" refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">RV::add</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>TODO</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>rv2.<ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref>&gt;0<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//rv2<sp/>is<sp/>nonempty</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ind<sp/>=<sp/>rv2.<ref refid="classRV_10c493a7a897f4d75682f4264e40779a1" kindref="member" tooltip="Find indexes of self in another rv,.">findself</ref><sp/>(<sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//should<sp/>be<sp/>-1<sp/>all<sp/>the<sp/>time</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>index<sp/>=<sp/>itpp::find<sp/>(<sp/>ind==-1<sp/>);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>index.length()<sp/>&lt;<sp/>rv2.<ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>)<sp/>{<sp/></highlight><highlight class="comment">//conflict</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>=<sp/>concat<sp/>(<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref>,<sp/>rv2.<ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>index<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>=<sp/>concat<sp/>(<sp/>sizes,<sp/>rv2.<ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>index<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>=<sp/>concat<sp/>(<sp/>times,<sp/>rv2.<ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>index<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>=<sp/>concat<sp/>(<sp/>names,<sp/>rv2.<ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>(<sp/>to_Arr<sp/>(<sp/>index<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>=<sp/>concat<sp/>(<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref>,<sp/>rv2.<ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>=<sp/>concat<sp/>(<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref>,<sp/>rv2.<ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>=<sp/>concat<sp/>(<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref>,<sp/>rv2.<ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>=<sp/>concat<sp/>(<sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref>,<sp/>rv2.<ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref><sp/>=<sp/>sum<sp/>(<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>=<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref>.length();</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(<sp/>index.length()<sp/>&lt;rv2.<ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{<sp/></highlight><highlight class="comment">//rv2<sp/>is<sp/>empty</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>return<sp/>*this;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight><highlight class="comment">//<sp/>RV::RV<sp/>(<sp/>ivec<sp/>in_ids<sp/>)<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>len<sp/>=<sp/>in_ids.length();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;std::string&gt;<sp/>A<sp/>(<sp/>len<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>std::string<sp/>rvstr<sp/>=<sp/>&quot;rv&quot;;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>(<sp/>int<sp/>i<sp/>=<sp/>0;<sp/>i<sp/>&lt;<sp/>len;i++<sp/>)<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>i<sp/>)<sp/>=<sp/>rvstr<sp/>+<sp/>to_str<sp/>(<sp/>i<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>init<sp/>(<sp/>in_ids,<sp/>A,<sp/>ones_i<sp/>(<sp/>len<sp/>),<sp/>zeros_i<sp/>(<sp/>len<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"></highlight><highlight class="comment">//<sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"></highlight></codeline>
+<codeline lineno="93" refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" refkind="member"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" kindref="member" tooltip="Select only variables at indeces ind.">RV::subselect</ref><sp/>(<sp/>ivec<sp/>ind<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ret;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ret.<ref refid="classRV_1799b75351112669ea6bcbbbd950c093f" kindref="member" tooltip="auxiliary function used in constructor">init</ref><sp/>(<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>ind<sp/>),<sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>(<sp/>to_Arr<sp/>(<sp/>ind<sp/>)<sp/>),<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>ind<sp/>),<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>ind<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>ret;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99" refid="classRV_1e0a158d53ab9430627241f844f4c9a60" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classRV_1e0a158d53ab9430627241f844f4c9a60" kindref="member" tooltip="Shift time shifted by delta.">RV::t</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>delta<sp/>)<sp/>{<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>+=<sp/>delta;}</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101" refid="classRV_165e5b820e482caff7f284d11898ef64f" refkind="member"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classRV_165e5b820e482caff7f284d11898ef64f" kindref="member" tooltip="Select only variables at indeces ind.">RV::operator() </ref>(<sp/>ivec<sp/>ind<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ret;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>ind.length()<sp/>&gt;0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ret.<ref refid="classRV_1799b75351112669ea6bcbbbd950c093f" kindref="member" tooltip="auxiliary function used in constructor">init</ref><sp/>(<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>ind<sp/>),<sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>(<sp/>to_Arr<sp/>(<sp/>ind<sp/>)<sp/>),<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>ind<sp/>),<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>ind<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>ret;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109" refid="classRV_182cc7fa22ce91cf461a522ad62014c65" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classRV_182cc7fa22ce91cf461a522ad62014c65" kindref="member" tooltip="Compare if rv2 is identical to this RV.">RV::equal</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>==<sp/>rv2.<ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>)<sp/>&amp;&amp;<sp/>(<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>==<sp/>rv2.<ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>)<sp/>&amp;&amp;<sp/>(<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>==<sp/>rv2.<ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>);</highlight></codeline>
+<codeline lineno="111"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113" refid="classepdf_154d7dd53a641b618771cd9bee135181f" refkind="member"><highlight class="normal">mat<sp/><ref refid="classepdf_154d7dd53a641b618771cd9bee135181f" kindref="member" tooltip="Returns N samples from density .">epdf::sampleN</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>N<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>X<sp/>=<sp/>zeros<sp/>(<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>(),<sp/>N<sp/>);</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>N;i++<sp/>)<sp/>X.set_col<sp/>(<sp/>i,<sp/>this-&gt;sample()<sp/>);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>X;</highlight></codeline>
+<codeline lineno="117"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120" refid="classRV_1cad6f15535d10437f6690cb4492176a8" refkind="member"><highlight class="normal">std::ostream<sp/>&amp;operator&lt;&lt;<sp/>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;<sp/>i<sp/>&lt;<sp/>rv.<ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>os<sp/>&lt;&lt;<sp/>rv.<ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>i<sp/>)<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;(&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>rv.<ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>i<sp/>)<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;)&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/><sp/></highlight><highlight class="comment">//<sp/>id(size)=</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;=&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>rv.<ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>(<sp/>i<sp/>)<sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;_{&quot;</highlight><highlight class="normal"><sp/><sp/>&lt;&lt;<sp/>rv.<ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>i<sp/>)<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;};<sp/>&quot;</highlight><highlight class="normal">;<sp/></highlight><highlight class="comment">//name_{time}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>os;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129" refid="classRV_152f3ade796814da627ff5a44d00986be" refkind="member"><highlight class="normal"><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/><ref refid="classRV_152f3ade796814da627ff5a44d00986be" kindref="member" tooltip="generate str from rv, by expanding sizes">RV::tostr</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>idlist<sp/>(<sp/><ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref><sp/>);</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>tmlist<sp/>(<sp/><ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref><sp/>);</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pos<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>idlist.set_subvector<sp/>(<sp/>pos,<sp/>pos<sp/>+<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>i<sp/>)<sp/>-<sp/>1,<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmlist.set_subvector<sp/>(<sp/>pos,<sp/>pos<sp/>+<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>i<sp/>)<sp/>-<sp/>1,<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pos<sp/>+=<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>(<sp/>idlist,<sp/>tmlist<sp/>);</highlight></codeline>
+<codeline lineno="140"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142" refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" refkind="member"><highlight class="normal">ivec<sp/><ref refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" kindref="member" tooltip="generate indeces into">RV::dataind</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rv2<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>str2<sp/>=<sp/>rv2.<ref refid="classRV_152f3ade796814da627ff5a44d00986be" kindref="member" tooltip="generate str from rv, by expanding sizes">tostr</ref>();</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>res<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>part;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>part<sp/>=<sp/>itpp::find<sp/>(<sp/>(<sp/>str2.<ref refid="classstr_18c4e7241505999c272eb15e586ba7923" kindref="member">ids</ref><sp/>==<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>i<sp/>)<sp/>)<sp/>&amp;<sp/>(<sp/>str2.<ref refid="classstr_1a55be419d33638dd0b2de3ecd64a4f27" kindref="member">times</ref><sp/>==<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>i<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>res<sp/>=<sp/>concat<sp/>(<sp/>res,<sp/>part<sp/>);</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>res;</highlight></codeline>
+<codeline lineno="152"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight></codeline>
+<codeline lineno="154" refid="classRV_1a85c47bd838ebbdcb6798d7843e87db2" refkind="member"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classRV_1a85c47bd838ebbdcb6798d7843e87db2" kindref="member" tooltip="Subtract another variable from the current one.">RV::subt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rv2<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>rv2<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>res<sp/>=<sp/>this-&gt;<ref refid="classRV_10c493a7a897f4d75682f4264e40779a1" kindref="member" tooltip="Find indexes of self in another rv,.">findself</ref><sp/>(<sp/>rv2<sp/>);<sp/></highlight><highlight class="comment">//<sp/>nonzeros</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>valid<sp/>=<sp/>itpp::find<sp/>(<sp/>res<sp/>==<sp/>-1<sp/>);<sp/></highlight><highlight class="comment">//-1<sp/>=&gt;<sp/>value<sp/>not<sp/>found<sp/>=&gt;<sp/>it<sp/>remains</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(<sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>)<sp/>(<sp/>valid<sp/>);<sp/></highlight><highlight class="comment">//keep<sp/>those<sp/>that<sp/>were<sp/>not<sp/>found<sp/>in<sp/>rv2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163" refid="classRV_10c493a7a897f4d75682f4264e40779a1" refkind="member"><highlight class="normal">ivec<sp/><ref refid="classRV_10c493a7a897f4d75682f4264e40779a1" kindref="member" tooltip="Find indexes of self in another rv,.">RV::findself</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j;</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>tmp<sp/>=<sp/>-ones_i<sp/>(<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref><sp/>);</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j<sp/>=<sp/>0;j<sp/>&lt;<sp/>rv2.<ref refid="classRV_1c114a6f3ff06796cc2f4dacba74291eb" kindref="member" tooltip="Return length (number of entries) of the RV.">length</ref>();j++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>(<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>i<sp/>)<sp/>==<sp/>rv2.<ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>j<sp/>)<sp/>)<sp/>&amp;<sp/>(<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>i<sp/>)<sp/>==<sp/>rv2.<ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>j<sp/>)<sp/>)<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp<sp/>(<sp/>i<sp/>)<sp/>=<sp/>j;</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>tmp;</highlight></codeline>
+<codeline lineno="175"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"></highlight></codeline>
+<codeline lineno="177" refid="libBM_8h_133c114e83980d883c5b211c47d5322a4" refkind="member"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>concat<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv1,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>pom<sp/>=<sp/>rv1;</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pom.<ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">add</ref><sp/>(<sp/>rv2<sp/>);</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pom;</highlight></codeline>
+<codeline lineno="181"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classUserInfo.xml
===================================================================
--- /doc/xml/classUserInfo.xml (revision 187)
+++ /doc/xml/classUserInfo.xml (revision 187)
@@ -0,0 +1,553 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classUserInfo" kind="class" prot="public">
+    <compoundname>UserInfo</compoundname>
+    <basecompoundref refid="classBindingFrame" prot="protected" virt="non-virtual">BindingFrame</basecompoundref>
+    <derivedcompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; T &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; Bike &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; bool &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; Car &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; double &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; int &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; string &gt;</derivedcompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+    <innerclass refid="classUserInfo_1_1StringToUIMap" prot="private">UserInfo::StringToUIMap</innerclass>
+      <sectiondef kind="private-type">
+      <memberdef kind="typedef" id="classUserInfo_1e78671164327c5732290b984075c8727" prot="private" static="no">
+        <type><ref refid="classUserInfo" kindref="compound">UserInfo</ref> *const</type>
+        <definition>typedef UserInfo* const UserInfo::pUserInfo</definition>
+        <argsstring></argsstring>
+        <name>pUserInfo</name>
+        <briefdescription>
+<para>just a typedef shortuct for a constant pointer to <ref refid="classUserInfo" kindref="compound">UserInfo</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="171" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="171" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classUserInfo_1a6b9ed1215d636c2dda4f05b3ad5a09d" prot="private" static="no" mutable="no">
+        <type>const string</type>
+        <definition>const string UserInfo::userFriendlyTypeName</definition>
+        <argsstring></argsstring>
+        <name>userFriendlyTypeName</name>
+        <briefdescription>
+<para>an user-friendly type name </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="201" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="201" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classUserInfo_14d9a5509eba45e868ddf9f085cd90a94" prot="private" static="no" mutable="no">
+        <type>const string</type>
+        <definition>const string UserInfo::typeNameByRTTI</definition>
+        <argsstring></argsstring>
+        <name>typeNameByRTTI</name>
+        <briefdescription>
+<para>a type name obtained by RTTI </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="204" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="204" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classUserInfo_161393930549feeb72d7d83350db4e685" prot="private" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void *</type>
+        <definition>virtual void* UserInfo::AssemblyTypelessInstance</definition>
+        <argsstring>()=0</argsstring>
+        <name>AssemblyTypelessInstance</name>
+        <reimplementedby refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95">AssemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95">AssemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95">AssemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95">AssemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95">AssemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95">AssemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95">AssemblyTypelessInstance</reimplementedby>
+        <briefdescription>
+<para>internal method assembling a typeless instance from components obtained by the &apos;AssemblyComponentsFromXML()&apos; method </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="195"/>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_15bb7197a620a2159c087f870f89c76e2" prot="private" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>bool</type>
+        <definition>virtual bool UserInfo::DisassemblyTypelessInstance</definition>
+        <argsstring>(void *pInstance)=0</argsstring>
+        <name>DisassemblyTypelessInstance</name>
+        <reimplementedby refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2">DisassemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2">DisassemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2">DisassemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2">DisassemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2">DisassemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2">DisassemblyTypelessInstance</reimplementedby>
+        <reimplementedby refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2">DisassemblyTypelessInstance</reimplementedby>
+        <param>
+          <type>void *</type>
+          <declname>pInstance</declname>
+        </param>
+        <briefdescription>
+<para>internal method disassembling a typeless instance to components which are processed by the &apos;DisassemblyComponentsToXML()&apos; method </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="198"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>UserInfo::UserInfo</definition>
+        <argsstring>(const string &amp;userFriendlyTypeName, const string &amp;typeNameByRTTI)</argsstring>
+        <name>UserInfo</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>userFriendlyTypeName</declname>
+        </param>
+        <param>
+          <type>const string &amp;</type>
+          <declname>typeNameByRTTI</declname>
+        </param>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="212" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="209" bodyend="219"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::AssemblyComponentsFromXML</definition>
+        <argsstring>(DOMElement &amp;element)=0</argsstring>
+        <name>AssemblyComponentsFromXML</name>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1159f56d7101091117dcdad68754bc195">AssemblyComponentsFromXML</reimplementedby>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method parse DOMElement, finds proper DOMNode and fills binded data accordingly. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="112"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>bool</type>
+        <definition>virtual bool BindingFrame::DisassemblyComponentsToXML</definition>
+        <argsstring>(DOMElement &amp;element)=0</argsstring>
+        <name>DisassemblyComponentsToXML</name>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939">DisassemblyComponentsToXML</reimplementedby>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This method reads binded data, fill them into a new DOMNode, which then appends to the passed DOMElement </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="119"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">Disassembly</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para><ref refid="classUserInfo" kindref="compound">UserInfo</ref> is an abstract is for internal purposes only. Use CompoundUserInfo&lt;T&gt; or ValuedUserInfo&lt;T&gt; instead. The raison d&apos;etre of this class is to allow pointers to its templated descendants. </para>    </briefdescription>
+    <detaileddescription>
+<para>Also, the main functions of the whole <ref refid="classUserInfo" kindref="compound">UserInfo</ref> library are included within this class, see static methods &apos;Assembly&apos; and &apos;Disassembly&apos;. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1353">
+        <label>BikeUI</label>
+        <childnode refid="1352" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1357">
+        <label>ValuedUserInfo&lt; int &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1354" relation="template-instance">
+          <edgelabel>&lt; int &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1364" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1356">
+        <label>DoubleUI</label>
+        <childnode refid="1355" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1348">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1346" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1365">
+        <label>TypedUserInfo&lt; string &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1348" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1346" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1352">
+        <label>CompoundUserInfo&lt; Bike &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="1349" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1368" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1366">
+        <label>TypedUserInfo&lt; Car &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1348" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1346" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1354">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1348" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1363">
+        <label>TypedUserInfo&lt; double &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1348" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1346" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1350">
+        <label>CompoundUserInfo&lt; Car &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="1349" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1366" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1359">
+        <label>ValuedUserInfo&lt; string &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1354" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1365" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1368">
+        <label>TypedUserInfo&lt; Bike &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1348" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1346" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1364">
+        <label>TypedUserInfo&lt; int &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1348" relation="template-instance">
+          <edgelabel>&lt; int &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1346" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1361">
+        <label>ValuedUserInfo&lt; bool &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1354" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1367" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1367">
+        <label>TypedUserInfo&lt; bool &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1348" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1346" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1349">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="1348" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1346">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1347" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="1355">
+        <label>ValuedUserInfo&lt; double &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1354" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1363" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1362">
+        <label>BoolUI</label>
+        <childnode refid="1361" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1360">
+        <label>StringUI</label>
+        <childnode refid="1359" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1358">
+        <label>IntUI</label>
+        <childnode refid="1357" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1351">
+        <label>CarUI</label>
+        <childnode refid="1350" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1347">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1371">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="1372">
+        <label>string</label>
+      </node>
+      <node id="1369">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1370" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="1372" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="1370">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="1371" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="168" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="167" bodyend="331"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>UserInfo</scope><name>Assembly</name></member>
+      <member refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" prot="protected" virt="pure-virtual"><scope>UserInfo</scope><name>AssemblyComponentsFromXML</name></member>
+      <member refid="classUserInfo_161393930549feeb72d7d83350db4e685" prot="private" virt="pure-virtual"><scope>UserInfo</scope><name>AssemblyTypelessInstance</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>UserInfo</scope><name>BindingFrame</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>UserInfo</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>UserInfo</scope><name>Disassembly</name></member>
+      <member refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" prot="protected" virt="pure-virtual"><scope>UserInfo</scope><name>DisassemblyComponentsToXML</name></member>
+      <member refid="classUserInfo_15bb7197a620a2159c087f870f89c76e2" prot="private" virt="pure-virtual"><scope>UserInfo</scope><name>DisassemblyTypelessInstance</name></member>
+      <member refid="classUserInfo_1e78671164327c5732290b984075c8727" prot="private" virt="non-virtual"><scope>UserInfo</scope><name>pUserInfo</name></member>
+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="protected" virt="virtual"><scope>UserInfo</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>UserInfo</scope><name>removeSpaces</name></member>
+      <member refid="classUserInfo_14d9a5509eba45e868ddf9f085cd90a94" prot="private" virt="non-virtual"><scope>UserInfo</scope><name>typeNameByRTTI</name></member>
+      <member refid="classUserInfo_1a6b9ed1215d636c2dda4f05b3ad5a09d" prot="private" virt="non-virtual"><scope>UserInfo</scope><name>userFriendlyTypeName</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>UserInfo</scope><name>UserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>UserInfo</scope><name>XMLCh2str</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classValuedUserInfo.xml
===================================================================
--- /doc/xml/classValuedUserInfo.xml (revision 187)
+++ /doc/xml/classValuedUserInfo.xml (revision 187)
@@ -0,0 +1,408 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classValuedUserInfo" kind="class" prot="public">
+    <compoundname>ValuedUserInfo</compoundname>
+    <basecompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; T &gt;</basecompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+    <templateparamlist>
+      <param>
+        <type>typename</type>
+        <declname>T</declname>
+        <defname>T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" static="no" mutable="no">
+        <type>string</type>
+        <definition>string ValuedUserInfo&lt; T &gt;::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+<para>string variable which is automatically binded to a proper DOMElement attribute </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="552" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="552" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void ValuedUserInfo&lt; T &gt;::AssemblyComponentsFromXML</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>AssemblyComponentsFromXML</name>
+        <reimplements refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d">AssemblyComponentsFromXML</reimplements>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method parse DOMElement, finds proper DOMNode and fills binded data accordingly. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="531" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="530" bodyend="533"/>
+      </memberdef>
+      <memberdef kind="function" id="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>bool</type>
+        <definition>bool ValuedUserInfo&lt; T &gt;::DisassemblyComponentsToXML</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>DisassemblyComponentsToXML</name>
+        <reimplements refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca">DisassemblyComponentsToXML</reimplements>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This method reads binded data, fill them into a new DOMNode, which then appends to the passed DOMElement </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="536" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="535" bodyend="539"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classValuedUserInfo_186897fcfe4666183bcecf16a23715cdb" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>ValuedUserInfo&lt; T &gt;::ValuedUserInfo</definition>
+        <argsstring>(string userFriendlyTypeName)</argsstring>
+        <name>ValuedUserInfo</name>
+        <param>
+          <type>string</type>
+          <declname>userFriendlyTypeName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="544"/>
+      </memberdef>
+      <memberdef kind="function" id="classValuedUserInfo_14c37684500f88a6d7d8d06b73ab5267a" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>ValuedUserInfo&lt; T &gt;::~ValuedUserInfo</definition>
+        <argsstring>()</argsstring>
+        <name>~ValuedUserInfo</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="548"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; T &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt;T&gt;&amp; TypedUserInfo&lt; T &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>The main userinfo template class. It should be derived whenever you need a new userinfo of a class which does not contain any subelements. It is the case of basic classes(or types) like int, string, double, etc. </para>    </briefdescription>
+    <detaileddescription>
+<para>The only thing left is to translate its public string attribute &apos;value&apos; into a value of type T and also implement conversion in the other way round. For that, an overloading of methods T* AssemblyInstance() / bool DisassemblyInstance(T  &amp;instance) is fruitful. See some valued userinfo below as an example. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1381">
+        <label>ValuedUserInfo&lt; int &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1375" relation="template-instance">
+          <edgelabel>&lt; int &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1380">
+        <label>DoubleUI</label>
+        <childnode refid="1379" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1376">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1377" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1375">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1376" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1383">
+        <label>ValuedUserInfo&lt; string &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1375" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1385">
+        <label>ValuedUserInfo&lt; bool &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1375" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1377">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1378" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="1379">
+        <label>ValuedUserInfo&lt; double &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1375" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1386">
+        <label>BoolUI</label>
+        <childnode refid="1385" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1384">
+        <label>StringUI</label>
+        <childnode refid="1383" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1382">
+        <label>IntUI</label>
+        <childnode refid="1381" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1378">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1391">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="1388">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1389" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1392">
+        <label>string</label>
+      </node>
+      <node id="1387">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1388" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1392" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+      </node>
+      <node id="1389">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1390" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="1392" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="1390">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="1391" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="528" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="527" bodyend="553"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>ValuedUserInfo</scope><name>Assembly</name></member>
+      <member refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9" prot="private" virt="virtual"><scope>ValuedUserInfo</scope><name>AssemblyComponentsFromXML</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>BindingFrame</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>ValuedUserInfo</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>ValuedUserInfo</scope><name>Disassembly</name></member>
+      <member refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4" prot="private" virt="virtual"><scope>ValuedUserInfo</scope><name>DisassemblyComponentsToXML</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>instance</name></member>
+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="protected" virt="virtual"><scope>ValuedUserInfo</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>UserInfo</name></member>
+      <member refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>value</name></member>
+      <member refid="classValuedUserInfo_186897fcfe4666183bcecf16a23715cdb" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>ValuedUserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>XMLCh2str</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>~TypedUserInfo</name></member>
+      <member refid="classValuedUserInfo_14c37684500f88a6d7d8d06b73ab5267a" prot="protected" virt="non-virtual"><scope>ValuedUserInfo</scope><name>~ValuedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classfsqmat.xml
===================================================================
--- /doc/xml/classfsqmat.xml (revision 187)
+++ /doc/xml/classfsqmat.xml (revision 187)
@@ -0,0 +1,658 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classfsqmat" kind="class" prot="public">
+    <compoundname>fsqmat</compoundname>
+    <basecompoundref refid="classsqmat" prot="public" virt="non-virtual">sqmat</basecompoundref>
+    <includes refid="libDC_8h" local="no">libDC.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat fsqmat::M</definition>
+        <argsstring></argsstring>
+        <name>M</name>
+        <briefdescription>
+<para>Full matrix on which the operations are performed. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="114" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="114" bodyend="-1"/>
+        <referencedby refid="classfsqmat_1a2e0bf7dbbbbe1d3358064c4ad455f1f" compoundref="libDC_8h" startline="152" endline="152">add</referencedby>
+        <referencedby refid="classfsqmat_1cfa4c359483d2322f32d1d50050f8ac4" compoundref="libDC_8cpp" startline="15" endline="15">clear</referencedby>
+        <referencedby refid="classfsqmat_11929fbc9fe375f1d67f979d0d302336f" compoundref="libDC_8cpp" startline="16" endline="20">fsqmat</referencedby>
+        <referencedby refid="classfsqmat_1bcf837b2956745e8986044f5600dbd6e" compoundref="libDC_8h" startline="157" endline="157">getD</referencedby>
+        <referencedby refid="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" compoundref="libDC_8cpp" startline="14" endline="14">inv</referencedby>
+        <referencedby refid="classfsqmat_158075da64ddadd4df40654c35b928c6f" compoundref="libDC_8h" startline="148" endline="148">invqform</referencedby>
+        <referencedby refid="classfsqmat_1eb0d1358f536e4453b5f99d0418ca1e5" compoundref="libDC_8h" startline="146" endline="146">logdet</referencedby>
+        <referencedby refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" compoundref="libDC_8cpp" startline="10" endline="10">mult_sym</referencedby>
+        <referencedby refid="classfsqmat_192052a8adc2054b63e42d1373d145c89" compoundref="libDC_8cpp" startline="11" endline="11">mult_sym_t</referencedby>
+        <referencedby refid="classfsqmat_1af800e7b2146da5e60897255dde80059" compoundref="libDC_8h" startline="167" endline="167">operator*=</referencedby>
+        <referencedby refid="classfsqmat_1514d1fdd8a382dbd6a774f2cf1ebd3de" compoundref="libDC_8h" startline="163" endline="163">operator+=</referencedby>
+        <referencedby refid="classfsqmat_1e976bc9d899961e1d2087b0630ed33b7" compoundref="libDC_8h" startline="165" endline="165">operator-=</referencedby>
+        <referencedby refid="classfsqmat_1b36530e155667fe9f1bd58394e50c65a" compoundref="libDC_8cpp" startline="8" endline="8">opupdt</referencedby>
+        <referencedby refid="classfsqmat_1a6c91b0389e73404324b2314b08d6e87" compoundref="libDC_8h" startline="147" endline="147">qform</referencedby>
+        <referencedby refid="classfsqmat_1922f8190c13987cbcdb33ec2bf5cf105" compoundref="libDC_8h" startline="155" endline="155">setD</referencedby>
+        <referencedby refid="classfsqmat_1842a774077ee34ac3c36d180ab33e103" compoundref="libDC_8h" startline="149" endline="149">sqrt_mult</referencedby>
+        <referencedby refid="classfsqmat_1cedf4f048309056f4262c930914dfda8" compoundref="libDC_8cpp" startline="9" endline="9">to_mat</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classsqmat_10abed904bdc0882373ba9adba919689d" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int sqmat::dim</definition>
+        <argsstring></argsstring>
+        <name>dim</name>
+        <briefdescription>
+<para>dimension of the square matrix </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" compoundref="libDC_8cpp" startline="104" endline="114">ldmat::add</referencedby>
+        <referencedby refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" compoundref="libDC_8h" startline="277" endline="277">ldmat::cols</referencedby>
+        <referencedby refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" compoundref="libDC_8h" startline="91" endline="91">sqmat::cols</referencedby>
+        <referencedby refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldmat::ldform</referencedby>
+        <referencedby refid="classldmat_1abe16e0f86668ef61a9a4896c8565dee" compoundref="libDC_8cpp" startline="41" endline="44">ldmat::ldmat</referencedby>
+        <referencedby refid="libDC_8h_16715d039e6d5d97005cf9e2522dfa474" compoundref="libDC_8cpp" startline="301" endline="320">ltuinv</referencedby>
+        <referencedby refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">ldmat::opupdt</referencedby>
+        <referencedby refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" compoundref="libDC_8h" startline="279" endline="279">ldmat::rows</referencedby>
+        <referencedby refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" compoundref="libDC_8h" startline="94" endline="94">sqmat::rows</referencedby>
+        <referencedby refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" compoundref="libDC_8cpp" startline="189" endline="201">ldmat::sqrt_mult</referencedby>
+        <referencedby refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" compoundref="libDC_8cpp" startline="80" endline="101">ldmat::to_mat</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classfsqmat_1b36530e155667fe9f1bd58394e50c65a" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void fsqmat::opupdt</definition>
+        <argsstring>(const vec &amp;v, double w)</argsstring>
+        <name>opupdt</name>
+        <reimplements refid="classsqmat_1b223484796661f2dadb5607a86ce0581">opupdt</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>w</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>Perfroms a rank-1 update by outer product of vectors: <formula id="23">$V = V + w v v&apos;$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>v</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>Vector forming the outer product to be added </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>w</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>weight of updating; can be negative</para></parameterdescription>
+</parameteritem>
+</parameterlist>
+BLAS-2b operation. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="8" bodyend="8"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1cedf4f048309056f4262c930914dfda8" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat fsqmat::to_mat</definition>
+        <argsstring>()</argsstring>
+        <name>to_mat</name>
+        <reimplements refid="classsqmat_19a5b6fddfeb42339e1dc9b978a2590fc">to_mat</reimplements>
+        <briefdescription>
+<para>Conversion to full matrix. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="117" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="9" bodyend="9"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_15530d2756b5d991de755e6121c9a452e" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void fsqmat::mult_sym</definition>
+        <argsstring>(const mat &amp;C)</argsstring>
+        <name>mult_sym</name>
+        <reimplements refid="classsqmat_160fbbfa9e483b8187c135f787ee53afa">mult_sym</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE matrix <formula id="24">$C$</formula>, i.e. <formula id="25">$V = C*V*C&apos;$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="118" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="10" bodyend="10"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_192052a8adc2054b63e42d1373d145c89" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void fsqmat::mult_sym_t</definition>
+        <argsstring>(const mat &amp;C)</argsstring>
+        <name>mult_sym_t</name>
+        <reimplements refid="classsqmat_16909e906da17725b1b80f3cae7cf3325">mult_sym_t</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE transpose of matrix <formula id="24">$C$</formula>, i.e. <formula id="26">$V = C&apos;*V*C$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="119" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="11" bodyend="11"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1d4eddc3743c8865cc5ed92d14de0e3e3" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void fsqmat::mult_sym</definition>
+        <argsstring>(const mat &amp;C, fsqmat &amp;U) const </argsstring>
+        <name>mult_sym</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <param>
+          <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>U</declname>
+        </param>
+        <briefdescription>
+<para>store result of <computeroutput>mult_sym</computeroutput> in external matrix <formula id="31">$U$</formula> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="121" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="12" bodyend="12"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1ae4949ad2a32553c7fa04d6d1483770a" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void fsqmat::mult_sym_t</definition>
+        <argsstring>(const mat &amp;C, fsqmat &amp;U) const </argsstring>
+        <name>mult_sym_t</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <param>
+          <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>U</declname>
+        </param>
+        <briefdescription>
+<para>store result of <computeroutput>mult_sym_t</computeroutput> in external matrix <formula id="31">$U$</formula> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="13" bodyend="13"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1cfa4c359483d2322f32d1d50050f8ac4" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void fsqmat::clear</definition>
+        <argsstring>()</argsstring>
+        <name>clear</name>
+        <reimplements refid="classsqmat_16fca246f9eabbdeb8cac03030e826b5e">clear</reimplements>
+        <briefdescription>
+<para>Clearing matrix so that it corresponds to zeros. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="124" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="15" bodyend="15"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fsqmat::fsqmat</definition>
+        <argsstring>()</argsstring>
+        <name>fsqmat</name>
+        <briefdescription>
+<para>Default initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_140eae99305e7c7240fa95cfec125b06f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fsqmat::fsqmat</definition>
+        <argsstring>(const int dim0)</argsstring>
+        <name>fsqmat</name>
+        <param>
+          <type>const int</type>
+          <declname>dim0</declname>
+        </param>
+        <briefdescription>
+<para>Default initialization with proper size. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="129" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="24" bodyend="24"/>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_11929fbc9fe375f1d67f979d0d302336f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fsqmat::fsqmat</definition>
+        <argsstring>(const mat &amp;M)</argsstring>
+        <name>fsqmat</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>M</declname>
+        </param>
+        <briefdescription>
+<para>Constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="131" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="16" bodyend="20"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1c01f3e9bb590f2a2921369d672f3ce1e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>fsqmat::fsqmat</definition>
+        <argsstring>(const vec &amp;d)</argsstring>
+        <name>fsqmat</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>d</declname>
+        </param>
+        <briefdescription>
+<para>Constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="133" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="133" bodyend="133"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_12a8f104e4befbc2aa90d8b11edfedb2e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual fsqmat::~fsqmat</definition>
+        <argsstring>()</argsstring>
+        <name>~fsqmat</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="136" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="136" bodyend="136"/>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void fsqmat::inv</definition>
+        <argsstring>(fsqmat &amp;Inv)</argsstring>
+        <name>inv</name>
+        <param>
+          <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>Inv</declname>
+        </param>
+        <briefdescription>
+<para>Matrix inversion preserving the chosen form. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>Inv</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a space where the inverse is stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="144" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="14" bodyend="14"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1eb0d1358f536e4453b5f99d0418ca1e5" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double fsqmat::logdet</definition>
+        <argsstring>() const </argsstring>
+        <name>logdet</name>
+        <reimplements refid="classsqmat_10a772b396750eeeed85d69fa72478b45">logdet</reimplements>
+        <briefdescription>
+<para>Logarithm of a determinant. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="146" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="146" bodyend="146"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1a6c91b0389e73404324b2314b08d6e87" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double fsqmat::qform</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>qform</name>
+        <reimplements refid="classsqmat_1fc026312eb02ba09f85d5aacd6f05ab3">qform</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="29">$x= v&apos;*V*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="147" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="147" bodyend="147"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_158075da64ddadd4df40654c35b928c6f" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double fsqmat::invqform</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>invqform</name>
+        <reimplements refid="classsqmat_16230e8e8a9341866aaa0ce008691aac2">invqform</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="30">$x= v&apos;*inv(V)*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="148" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="148" bodyend="148"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1842a774077ee34ac3c36d180ab33e103" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec fsqmat::sqrt_mult</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>sqrt_mult</name>
+        <reimplements refid="classsqmat_16b79438b5d7544a9c8e110a145355d8f">sqrt_mult</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Multiplies square root of <formula id="27">$V$</formula> by vector <formula id="28">$x$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Used e.g. in generating normal samples. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="149" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="149" bodyend="149"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1a2e0bf7dbbbbe1d3358064c4ad455f1f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void fsqmat::add</definition>
+        <argsstring>(const fsqmat &amp;fsq2, double w=1.0)</argsstring>
+        <name>add</name>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>fsq2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>w</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>Add another matrix in fsq form with weight w. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="152" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="152" bodyend="152"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1922f8190c13987cbcdb33ec2bf5cf105" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void fsqmat::setD</definition>
+        <argsstring>(const vec &amp;nD)</argsstring>
+        <name>setD</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>nD</declname>
+        </param>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="155" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="155" bodyend="155"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1bcf837b2956745e8986044f5600dbd6e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec fsqmat::getD</definition>
+        <argsstring>()</argsstring>
+        <name>getD</name>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="157" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="157" bodyend="157"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_103a8f49eb4d38a054ecc522be59cd2ad" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void fsqmat::setD</definition>
+        <argsstring>(const vec &amp;nD, int i)</argsstring>
+        <name>setD</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>nD</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>i</declname>
+        </param>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="159" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="159" bodyend="159"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1514d1fdd8a382dbd6a774f2cf1ebd3de" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+        <definition>fsqmat&amp; fsqmat::operator+=</definition>
+        <argsstring>(const fsqmat &amp;A)</argsstring>
+        <name>operator+=</name>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>A</declname>
+        </param>
+        <briefdescription>
+<para>add another <ref refid="classfsqmat" kindref="compound">fsqmat</ref> matrix </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="163" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="163" bodyend="163"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1e976bc9d899961e1d2087b0630ed33b7" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+        <definition>fsqmat&amp; fsqmat::operator-=</definition>
+        <argsstring>(const fsqmat &amp;A)</argsstring>
+        <name>operator-=</name>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>A</declname>
+        </param>
+        <briefdescription>
+<para>subtrack another <ref refid="classfsqmat" kindref="compound">fsqmat</ref> matrix </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="165" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="165" bodyend="165"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classfsqmat_1af800e7b2146da5e60897255dde80059" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+        <definition>fsqmat&amp; fsqmat::operator*=</definition>
+        <argsstring>(double x)</argsstring>
+        <name>operator*=</name>
+        <param>
+          <type>double</type>
+          <declname>x</declname>
+        </param>
+        <briefdescription>
+<para>multiply by a scalar </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="167" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="167" bodyend="167"/>
+        <references refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" compoundref="libDC_8h" startline="114">M</references>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_1ecc2e2540f95a04f4449842588170f5b" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int sqmat::cols</definition>
+        <argsstring>() const </argsstring>
+        <name>cols</name>
+        <reimplementedby refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306">cols</reimplementedby>
+        <briefdescription>
+<para>Reimplementing common functions of mat: <ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member">cols()</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="91" bodyend="91"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int sqmat::rows</definition>
+        <argsstring>() const </argsstring>
+        <name>rows</name>
+        <reimplementedby refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163">rows</reimplementedby>
+        <briefdescription>
+<para>Reimplementing common functions of mat: <ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member">cols()</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="94" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="94" bodyend="94"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="friend">
+      <memberdef kind="friend" id="classfsqmat_1e06aba54d61e807b41bd68b5ee6ac22f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>friend std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const fsqmat &amp;sq)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>sq</declname>
+        </param>
+        <briefdescription>
+<para>print full matrix </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="170" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="26" bodyend="29"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Fake <ref refid="classsqmat" kindref="compound">sqmat</ref>. This class maps <ref refid="classsqmat" kindref="compound">sqmat</ref> operations to operations on full matrix. </para>    </briefdescription>
+    <detaileddescription>
+<para>This class can be used to compare performance of algorithms using decomposed matrices with perormance of the same algorithms using full matrices; </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1039">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="1040" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1040">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1041">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="1042" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1042">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="111" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="110" bodyend="172"/>
+    <listofallmembers>
+      <member refid="classfsqmat_1a2e0bf7dbbbbe1d3358064c4ad455f1f" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>add</name></member>
+      <member refid="classfsqmat_1cfa4c359483d2322f32d1d50050f8ac4" prot="public" virt="virtual"><scope>fsqmat</scope><name>clear</name></member>
+      <member refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>cols</name></member>
+      <member refid="classsqmat_10abed904bdc0882373ba9adba919689d" prot="protected" virt="non-virtual"><scope>fsqmat</scope><name>dim</name></member>
+      <member refid="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>fsqmat</name></member>
+      <member refid="classfsqmat_140eae99305e7c7240fa95cfec125b06f" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>fsqmat</name></member>
+      <member refid="classfsqmat_11929fbc9fe375f1d67f979d0d302336f" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>fsqmat</name></member>
+      <member refid="classfsqmat_1c01f3e9bb590f2a2921369d672f3ce1e" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>fsqmat</name></member>
+      <member refid="classfsqmat_1bcf837b2956745e8986044f5600dbd6e" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>getD</name></member>
+      <member refid="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" prot="public" virt="virtual"><scope>fsqmat</scope><name>inv</name></member>
+      <member refid="classfsqmat_158075da64ddadd4df40654c35b928c6f" prot="public" virt="virtual"><scope>fsqmat</scope><name>invqform</name></member>
+      <member refid="classfsqmat_1eb0d1358f536e4453b5f99d0418ca1e5" prot="public" virt="virtual"><scope>fsqmat</scope><name>logdet</name></member>
+      <member refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" prot="protected" virt="non-virtual"><scope>fsqmat</scope><name>M</name></member>
+      <member refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" prot="public" virt="virtual"><scope>fsqmat</scope><name>mult_sym</name></member>
+      <member refid="classfsqmat_1d4eddc3743c8865cc5ed92d14de0e3e3" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>mult_sym</name></member>
+      <member refid="classfsqmat_192052a8adc2054b63e42d1373d145c89" prot="public" virt="virtual"><scope>fsqmat</scope><name>mult_sym_t</name></member>
+      <member refid="classfsqmat_1ae4949ad2a32553c7fa04d6d1483770a" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>mult_sym_t</name></member>
+      <member refid="classfsqmat_1af800e7b2146da5e60897255dde80059" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>operator*=</name></member>
+      <member refid="classfsqmat_1514d1fdd8a382dbd6a774f2cf1ebd3de" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>operator+=</name></member>
+      <member refid="classfsqmat_1e976bc9d899961e1d2087b0630ed33b7" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>operator-=</name></member>
+      <member refid="classfsqmat_1e06aba54d61e807b41bd68b5ee6ac22f" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>operator&lt;&lt;</name></member>
+      <member refid="classfsqmat_1b36530e155667fe9f1bd58394e50c65a" prot="public" virt="virtual"><scope>fsqmat</scope><name>opupdt</name></member>
+      <member refid="classfsqmat_1a6c91b0389e73404324b2314b08d6e87" prot="public" virt="virtual"><scope>fsqmat</scope><name>qform</name></member>
+      <member refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>rows</name></member>
+      <member refid="classfsqmat_1922f8190c13987cbcdb33ec2bf5cf105" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>setD</name></member>
+      <member refid="classfsqmat_103a8f49eb4d38a054ecc522be59cd2ad" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>setD</name></member>
+      <member refid="classsqmat_14268750c040c716b2c05037f725078a2" prot="public" virt="non-virtual"><scope>fsqmat</scope><name>sqmat</name></member>
+      <member refid="classfsqmat_1842a774077ee34ac3c36d180ab33e103" prot="public" virt="virtual"><scope>fsqmat</scope><name>sqrt_mult</name></member>
+      <member refid="classfsqmat_1cedf4f048309056f4262c930914dfda8" prot="public" virt="virtual"><scope>fsqmat</scope><name>to_mat</name></member>
+      <member refid="classfsqmat_12a8f104e4befbc2aa90d8b11edfedb2e" prot="public" virt="virtual"><scope>fsqmat</scope><name>~fsqmat</name></member>
+      <member refid="classsqmat_10481f2067bb32aaea7e6d4f27e46b656" prot="public" virt="virtual"><scope>fsqmat</scope><name>~sqmat</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/arx__test_8cpp.xml
===================================================================
--- /doc/xml/arx__test_8cpp.xml (revision 187)
+++ /doc/xml/arx__test_8cpp.xml (revision 187)
@@ -0,0 +1,135 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="arx__test_8cpp" kind="file">
+    <compoundname>arx_test.cpp</compoundname>
+    <includes refid="arx_8h" local="no">estim/arx.h</includes>
+    <includes refid="libEF_8h" local="no">stat/libEF.h</includes>
+    <incdepgraph>
+      <node id="810">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="808" relation="include">
+        </childnode>
+      </node>
+      <node id="813">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="808" relation="include">
+        </childnode>
+      </node>
+      <node id="811">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="808" relation="include">
+        </childnode>
+        <childnode refid="812" relation="include">
+        </childnode>
+        <childnode refid="810" relation="include">
+        </childnode>
+        <childnode refid="813" relation="include">
+        </childnode>
+      </node>
+      <node id="807">
+        <label>estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="808" relation="include">
+        </childnode>
+        <childnode refid="809" relation="include">
+        </childnode>
+        <childnode refid="811" relation="include">
+        </childnode>
+      </node>
+      <node id="809">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="808" relation="include">
+        </childnode>
+        <childnode refid="810" relation="include">
+        </childnode>
+      </node>
+      <node id="808">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="806">
+        <label>work/git/mixpp/tests/arx_test.cpp</label>
+        <link refid="arx_test.cpp"/>
+        <childnode refid="807" relation="include">
+        </childnode>
+        <childnode refid="811" relation="include">
+        </childnode>
+      </node>
+      <node id="812">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="808" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="arx__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/arx_test.cpp" line="9" bodyfile="/home/smidl/work/git/mixpp/tests/arx_test.cpp" bodystart="9" bodyend="44"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;<ref refid="arx_8h" kindref="compound" tooltip="Bayesian Filtering for generalized autoregressive (ARX) model.">estim/arx.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">stat/libEF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Setup<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>th(</highlight><highlight class="stringliteral">&quot;0.8<sp/>-0.3<sp/>0.4<sp/>0.01&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ord=th.length();</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sqr=1;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>constructor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0<sp/>=<sp/>0.001*eye(ord+1);<sp/>V0(0.0)*=<sp/>10;<sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0<sp/>=<sp/>ord+1;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr(</highlight><highlight class="stringliteral">&quot;{theta_and_r<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar(thr,<sp/>V0,<sp/>nu0);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Ar_ep<sp/>=<sp/>Ar._epdf();</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>estimation</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat<sp/>=<sp/>1000;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t,j;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Yt(ndat);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>LL(ndat);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Yt.set_subvector(0,randn(ord));<sp/></highlight><highlight class="comment">//initial<sp/>values</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>rgr(ord);</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Ar_ep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(t=ord;<sp/>t&lt;ndat;<sp/>t++)<sp/>{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(j=0;j&lt;(ord);j++){rgr(j)=Yt(t-j-1);}</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Yt(t)<sp/>=<sp/>th*rgr<sp/>+<sp/>sqr<sp/>*<sp/>NorRNG();</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Psi<sp/>=<sp/>concat(Yt(t),<sp/>rgr);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes(Psi);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>LL(t)<sp/>=<sp/>Ar._ll();</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Ar_ep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Test<sp/>brute-froce<sp/>structure<sp/>estimation</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Ar.structure_est(<ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref>(thr,V0,nu0))<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/arx_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testKF__big_8m.xml
===================================================================
--- /doc/xml/testKF__big_8m.xml (revision 187)
+++ /doc/xml/testKF__big_8m.xml (revision 187)
@@ -0,0 +1,869 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testKF__big_8m" kind="file">
+    <compoundname>testKF_big.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="testKF__big_8m_113f6a085da4dc9f96af62d6144452e25" prot="public" static="no" mutable="no">
+        <type>function</type>
+        <definition>function skipgen</definition>
+        <argsstring></argsstring>
+        <name>skipgen</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="2" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="2" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_193aeca96efb76ae5d113f32c56e4ab23" prot="public" static="no" mutable="no">
+        <type>end if~skipgen</type>
+        <definition>end if ~skipgen dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <initializer> 30</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="5" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="5" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1220490198d865fc257adb83d94bacf2b" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Apom</definition>
+        <argsstring></argsstring>
+        <name>Apom</name>
+        <initializer>rand(dimx)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="6" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="6" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1cbc194c8235e9a8357832ee16b1cb898" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Apom2</definition>
+        <argsstring></argsstring>
+        <name>Apom2</name>
+        <initializer> Apom*Apom&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="7" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="7" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_13b98e2dffc6cb06a89dcb0d5c60a0206" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <initializer> Apom2/max(1.1*eig(Apom2))</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="8" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="8" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_19d3d9048db16a7eee539e93e3618cbe7" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <initializer>ones(dimx,1)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="9" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="9" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1aa53ca0b650dfd85c4f59fa156f7a2cc" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <initializer>eye(dimx)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="10" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1350bfcb1e3cfb28ddff48ce525d4f139" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <initializer>ones(dimx,1)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="11" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1cb95449a94688af33f6e9bb090cf2936" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <initializer>0.1*eye(dimx)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="12" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="12" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_17e56035a736d269ad670f312496a0846" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <initializer>0.2*eye(dimx)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="13" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="13" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1448a1dce4b124fb46d5d4c9f44d2fe85" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>sQ</definition>
+        <argsstring></argsstring>
+        <name>sQ</name>
+        <initializer> chol(Q)&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="15" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1579fb5335a94c0901515c2e309069727" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>sR</definition>
+        <argsstring></argsstring>
+        <name>sR</name>
+        <initializer> chol(R)&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="16" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="16" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_18cc2e7240164328fdc3f0e5e21032c56" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>N</definition>
+        <argsstring></argsstring>
+        <name>N</name>
+        <initializer>1000</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="18" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_131494d2730c7124553b8b90d48a10be2" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>mu0</definition>
+        <argsstring></argsstring>
+        <name>mu0</name>
+        <initializer> zeros(dimx,1)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="19" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1f41cd400ef5e4fa8d8c9197f185bb7e3" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>P0</definition>
+        <argsstring></argsstring>
+        <name>P0</name>
+        <initializer> 200*eye(dimx)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="20" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="20" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_16277e2a7446059985dc9bcf0a4ac1a8f" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>u</definition>
+        <argsstring></argsstring>
+        <name>u</name>
+        <initializer> rand(1,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="22" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="22" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_19336ebf25087d91c818ee6e9ec29f8c1" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>x</definition>
+        <argsstring></argsstring>
+        <name>x</name>
+        <initializer> zeros(dimx,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="23" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_12fb1c5cf58867b5bbc9a1b145a86f3a0" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>y</definition>
+        <argsstring></argsstring>
+        <name>y</name>
+        <initializer> zeros(dimx,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="24" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1ca534695025d67188b30b16d0debbb71" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Et</definition>
+        <argsstring></argsstring>
+        <name>Et</name>
+        <initializer> sQ*randn(dimx,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="27" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="27" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1cf437e7551a2ce881d7ec2b66e46dc17" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Wt</definition>
+        <argsstring></argsstring>
+        <name>Wt</name>
+        <initializer> sR*randn(dimx,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="28" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_16f6ccfcf58b31cb6412107d9d5281426" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for i</definition>
+        <argsstring></argsstring>
+        <name>i</name>
+        <initializer>2:N</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="29" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_18f5ae177038811db9ecdc0d34cb2f619" prot="public" static="no" mutable="no">
+        <type>end</type>
+        <definition>end d</definition>
+        <argsstring></argsstring>
+        <name>d</name>
+        <initializer>[y</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="34" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="34" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_14baee84af7a92177c9064ddc2fc010ce" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>P</definition>
+        <argsstring></argsstring>
+        <name>P</name>
+        <initializer> P0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="42" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_18185cdfca13752d7643b8fcf3ff27846" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>EP</definition>
+        <argsstring></argsstring>
+        <name>EP</name>
+        <initializer> [0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="43" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="43" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_12794cf8b1ad1615d4372921e76c9cf46" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Oxt</definition>
+        <argsstring></argsstring>
+        <name>Oxt</name>
+        <initializer> mu0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="45" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="45" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_15835855983d2d9f23222c36eeecc9511" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>OPt</definition>
+        <argsstring></argsstring>
+        <name>OPt</name>
+        <initializer> P0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="46" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1562b530cff1f5bca3b1a4c1ad4ad9962" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="47" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1fe943524069f3dc1bc711a301870a09d" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Oxt2</definition>
+        <argsstring></argsstring>
+        <name>Oxt2</name>
+        <initializer> mu0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="48" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="48" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1c70bdbacd231c6f518d9a83d4cdb5c88" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>OPt2</definition>
+        <argsstring></argsstring>
+        <name>OPt2</name>
+        <initializer> P0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="49" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="49" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1229f5f247945b4b82873c6281b6e1c3f" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>ll2</definition>
+        <argsstring></argsstring>
+        <name>ll2</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="50" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_18fb092330ecda60587643305d0d9738a" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>tic</definition>
+        <argsstring></argsstring>
+        <name>tic</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="52" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="52" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1eeb7263bc62091985bdabfb0015cbc29" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for t</definition>
+        <argsstring></argsstring>
+        <name>t</name>
+        <initializer>2:N
+	mu = A*mu + B*u(t)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="54" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="53" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_124068c887c4d53fd6bae5a1cec850190" prot="public" static="no" mutable="no">
+        <type>Data update</type>
+        <definition>Data update Ry</definition>
+        <argsstring></argsstring>
+        <name>Ry</name>
+        <initializer> C*P*C&apos; + R</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="58" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_17939d564205f8ed94a9c2fbc96fc1db6" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>iRy</definition>
+        <argsstring></argsstring>
+        <name>iRy</name>
+        <initializer> inv(Ry)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="59" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="59" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_116e4ef534cec559430e07e05eb71c719" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>K</definition>
+        <argsstring></argsstring>
+        <name>K</name>
+        <initializer> P*C&apos;*iRy</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="60" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="60" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_123c1622d0f5af8a8a8cd90dd1898f3cb" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>mu</definition>
+        <argsstring></argsstring>
+        <name>mu</name>
+        <initializer> mu + K*(y(:,t)-C*mu-D*u(t))</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="62" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF__big_8m_1f7d22d3421a567ae2e64e0fa8c6faaae" prot="public" static="no" mutable="no">
+        <type>end</type>
+        <definition>end exec_matlab</definition>
+        <argsstring></argsstring>
+        <name>exec_matlab</name>
+        <initializer> <ref refid="classKalman" kindref="compound">Kalman</ref>(Oxt,y(:,t),A,C,Q,R,OPt) <ref refid="classKalman" kindref="compound">Kalman</ref>(Oxt2,y(:,t),A,C,Q,R/10000,OPt2) toc
+
+!cd ../</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="70" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF_big.m" bodystart="68" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testKF__big_8m_1c4ba94d0cc961b3de89a5ceac9de3035" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>function</type>
+        <definition>function testKF</definition>
+        <argsstring>(skipgen) if nargin&lt;1</argsstring>
+        <name>testKF</name>
+        <param>
+          <type>skipgen</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="2"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_1aeeb1ead24334ce09a1ffb542f262835" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>x</definition>
+        <argsstring>(:, 1)</argsstring>
+        <name>x</name>
+        <param>
+          <type>:</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="26"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_1dbad4a22ccad809116814f2a9ccf4a35" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>x</definition>
+        <argsstring>(:, i)</argsstring>
+        <name>x</name>
+        <param>
+          <type>:</type>
+        </param>
+        <param>
+          <type>i</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="30"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_11825a243c7bc27e6e7c926632cb3c8e9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>y</definition>
+        <argsstring>(:, i)</argsstring>
+        <name>y</name>
+        <param>
+          <type>:</type>
+        </param>
+        <param>
+          <type>i</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="31"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_1e7ee862b63a54c45515bd83580c735a8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>itsave</definition>
+        <argsstring>(&apos;testKF.it&apos;, d, A, B, C, D, Q, R, P0, mu0) save testKF else load testKF end%init mu</argsstring>
+        <name>itsave</name>
+        <param>
+          <type>&apos;testKF.it&apos;</type>
+        </param>
+        <param>
+          <type>d</type>
+        </param>
+        <param>
+          <type>A</type>
+        </param>
+        <param>
+          <type>B</type>
+        </param>
+        <param>
+          <type>C</type>
+        </param>
+        <param>
+          <type>D</type>
+        </param>
+        <param>
+          <type>Q</type>
+        </param>
+        <param>
+          <type>R</type>
+        </param>
+        <param>
+          <type>P0</type>
+        </param>
+        <param>
+          <type>mu0</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="41"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_107d722eada7d30f04ac7fed6140c7c13" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>Mu</definition>
+        <argsstring>(1:dimx, t)</argsstring>
+        <name>Mu</name>
+        <param>
+          <type>1:dimx</type>
+        </param>
+        <param>
+          <type>t</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="63"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_1d91ba6b0ae965ae14603af3274d688c2" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>tests testKF</type>
+        <definition>tests testKF itload</definition>
+        <argsstring>(&apos;testKF_res.it&apos;)</argsstring>
+        <name>itload</name>
+        <param>
+          <type>&apos;testKF_res.it&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="71"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_1f0aa8fd6dd46b4abbd815fff698c1a19" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold off</type>
+        <definition>hold off plot</definition>
+        <argsstring>(x&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>x&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="74"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_1326450cee37b21cf7e9d9e70649c94dc" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold on</type>
+        <definition>hold on plot</definition>
+        <argsstring>(xth&apos;,&apos;--&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xth&apos;</type>
+        </param>
+        <param>
+          <type>&apos;--&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="76"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_199232dcfb21f0b04fdd16c57d7e7d6c4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(xth2&apos;,&apos;+&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xth2&apos;</type>
+        </param>
+        <param>
+          <type>&apos;+&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="77"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_16ce11142e1cc7f336ee0c84a8e7fa000" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(xthE&apos;,&apos;o&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xthE&apos;</type>
+        </param>
+        <param>
+          <type>&apos;o&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="78"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF__big_8m_1eb18112686a400e443f5507bb5bcba2d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(Mu&apos;,&apos;d&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>Mu&apos;</type>
+        </param>
+        <param>
+          <type>&apos;d&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m" line="79"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">function<sp/>testKF(skipgen)</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">if<sp/>nargin&lt;1,<sp/>skipgen=0;<sp/>end</highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal">if<sp/>~skipgen</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimx<sp/>=<sp/>30;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Apom=rand(dimx);</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Apom2<sp/>=<sp/>Apom*Apom&apos;;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>=<sp/>Apom2/max(1.1*eig(Apom2));</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>B=ones(dimx,1);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C=eye(dimx);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>D=ones(dimx,1);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R=0.1*eye(dimx);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q=0.2*eye(dimx);<sp/></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sQ<sp/>=<sp/>chol(Q)&apos;;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sR<sp/>=<sp/>chol(R)&apos;;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>N<sp/>=1000;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu0<sp/>=<sp/>zeros(dimx,1);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P0<sp/>=<sp/>200*eye(dimx);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/>rand(1,N);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>=<sp/>zeros(dimx,N);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y<sp/>=<sp/>zeros(dimx,N);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x(:,1)<sp/>=<sp/>10*ones(dimx,1);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Et<sp/>=<sp/>sQ*randn(dimx,N);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Wt<sp/>=<sp/>sR*randn(dimx,N);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>i=2:N;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x(:,i)<sp/>=<sp/>A*x(:,i-1)<sp/>+<sp/>B*u(i)<sp/>+<sp/>Et(:,i);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y(:,i)<sp/>=<sp/>C*x(:,i)<sp/>+<sp/>D*u(i)<sp/>+<sp/>Wt(:,1);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>d=[y;u];</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itsave(&apos;testKF.it&apos;,d,A,B,C,D,Q,R,P0,mu0)</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>save<sp/>testKF</highlight></codeline>
+<codeline lineno="37"><highlight class="normal">else</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>load<sp/>testKF</highlight></codeline>
+<codeline lineno="39"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="40"><highlight class="normal">%<sp/>init<sp/></highlight></codeline>
+<codeline lineno="41"><highlight class="normal">mu<sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">P<sp/>=<sp/>P0;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal">EP<sp/>=<sp/>[0;0];</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal">Oxt<sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal">OPt<sp/>=<sp/>P0;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">ll<sp/>=0;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal">Oxt2<sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal">OPt2<sp/>=<sp/>P0;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal">ll2=0;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal">tic;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal">for<sp/>t=2:N</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu<sp/>=<sp/>A*mu<sp/>+<sp/>B*u(t);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P<sp/><sp/>=<sp/>A*P*A&apos;<sp/>+<sp/>Q;</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%Data<sp/>update</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ry<sp/>=<sp/>C*P*C&apos;<sp/>+<sp/>R;</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>iRy<sp/>=<sp/>inv(Ry);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>K<sp/>=<sp/>P*C&apos;*iRy;<sp/></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P<sp/>=<sp/>P-<sp/>K*C*P;<sp/>%<sp/>P<sp/>=<sp/>P<sp/>-KCP;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu<sp/>=<sp/>mu<sp/>+<sp/>K*(y(:,t)-C*mu-D*u(t));</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Mu(1:dimx,t)=mu;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal">%<sp/><sp/><sp/><sp/><sp/><sp/><sp/>[Oxt,OPt,ll(t)]<sp/>=<sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>(Oxt,y(:,t),A,C,Q,R,OPt);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal">%<sp/><sp/><sp/><sp/><sp/><sp/><sp/>[Oxt2,OPt2,ll2(t)]<sp/>=<sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>(Oxt2,y(:,t),A,C,Q,R/10000,OPt2);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="68"><highlight class="normal">exec_matlab<sp/>=<sp/>toc</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal">!cd<sp/>../;./tests/testKF</highlight></codeline>
+<codeline lineno="71"><highlight class="normal">itload(&apos;testKF_res.it&apos;);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal">hold<sp/>off</highlight></codeline>
+<codeline lineno="74"><highlight class="normal">plot(x&apos;);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="76"><highlight class="normal">plot(xth&apos;,&apos;--&apos;);</highlight></codeline>
+<codeline lineno="77"><highlight class="normal">plot(xth2&apos;,&apos;+&apos;);</highlight></codeline>
+<codeline lineno="78"><highlight class="normal">plot(xthE&apos;,&apos;o&apos;);</highlight></codeline>
+<codeline lineno="79"><highlight class="normal">plot(Mu&apos;,&apos;d&apos;);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal">max(max(x(:,2:end)<sp/>-<sp/>xth(:,1:end-1)))</highlight></codeline>
+<codeline lineno="82"><highlight class="normal">max(max(x<sp/>-<sp/>xth2))</highlight></codeline>
+<codeline lineno="83"><highlight class="normal">max(max(x<sp/>-<sp/>xthE))</highlight></codeline>
+<codeline lineno="84"><highlight class="normal">max(max(x<sp/>-<sp/>Mu))</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal">exec_times</highlight></codeline>
+<codeline lineno="87"><highlight class="normal">exec_matlab./exec_times</highlight></codeline>
+<codeline lineno="88"><highlight class="normal">keyboard</highlight></codeline>
+<codeline lineno="89"><highlight class="normal">end</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/testKF_big.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classeEF.xml
===================================================================
--- /doc/xml/classeEF.xml (revision 187)
+++ /doc/xml/classeEF.xml (revision 187)
@@ -0,0 +1,363 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classeEF" kind="class" prot="public">
+    <compoundname>eEF</compoundname>
+    <basecompoundref refid="classepdf" prot="public" virt="non-virtual">epdf</basecompoundref>
+    <derivedcompoundref refid="classegamma" prot="public" virt="non-virtual">egamma</derivedcompoundref>
+    <derivedcompoundref refid="classegiw" prot="public" virt="non-virtual">egiw</derivedcompoundref>
+    <derivedcompoundref refid="classenorm" prot="public" virt="non-virtual">enorm&lt; sq_T &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classenorm" prot="public" virt="non-virtual">enorm&lt; chmat &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classenorm" prot="public" virt="non-virtual">enorm&lt; fsqmat &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classenorm" prot="public" virt="non-virtual">enorm&lt; ldmat &gt;</derivedcompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classeEF_17e3c63655e8375c76bf1f421245427a7" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>eEF::eEF</definition>
+        <argsstring>(const RV &amp;rv)</argsstring>
+        <name>eEF</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="42" bodyend="42"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEF_169e5680dac10375d62520d26c672477d" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>double</type>
+        <definition>virtual double eEF::lognc</definition>
+        <argsstring>() const =0</argsstring>
+        <name>lognc</name>
+        <reimplementedby refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8">lognc</reimplementedby>
+        <reimplementedby refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8">lognc</reimplementedby>
+        <reimplementedby refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8">lognc</reimplementedby>
+        <reimplementedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6">lognc</reimplementedby>
+        <reimplementedby refid="classegiw_170eb1a0b88459b227f919b425b0d3359">lognc</reimplementedby>
+        <reimplementedby refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8">lognc</reimplementedby>
+        <briefdescription>
+<para>logarithm of the normalizing constant, <formula id="60">$\mathcal{I}$</formula> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="44"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void eEF::tupdate</definition>
+        <argsstring>(double phi, mat &amp;vbar, double nubar)</argsstring>
+        <name>tupdate</name>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <param>
+          <type>double</type>
+          <declname>phi</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>vbar</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nubar</declname>
+        </param>
+        <briefdescription>
+<para>TODO decide if it is really needed. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="46" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="46" bodyend="46"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEF_15863718c3b2fb1496dece10c5b745d5c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void eEF::dupdate</definition>
+        <argsstring>(mat &amp;v, double nu=1.0)</argsstring>
+        <name>dupdate</name>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <param>
+          <type>mat &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nu</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>TODO decide if it is really needed. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="48" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="48" bodyend="48"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_18019654e494bf5e458f6fb947e11b262" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>vec</type>
+        <definition>virtual vec epdf::sample</definition>
+        <argsstring>() const =0</argsstring>
+        <name>sample</name>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classeEmp_183f9283f92b805508d896479dc1ccf12">sample</reimplementedby>
+        <reimplementedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd">sample</reimplementedby>
+        <reimplementedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425">sample</reimplementedby>
+        <reimplementedby refid="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classemix_10650601f24e633e0ab09aa1e46c14483">sample</reimplementedby>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="149"/>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">PF::set_est</referencedby>
+        <referencedby refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" compoundref="libEF_8cpp" startline="199" endline="207">eEmp::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="153" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="153" bodyend="153"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_16aef3eca74899692503769c18add1a4c" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>double</type>
+        <definition>virtual double epdf::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const =0</argsstring>
+        <name>evalpdflog</name>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classeEmp_123e7358995400865ad2e278945922fb3">evalpdflog</reimplementedby>
+        <reimplementedby refid="classeuni_106af95d514a6623ad4688bd2ad50ad71">evalpdflog</reimplementedby>
+        <reimplementedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef">evalpdflog</reimplementedby>
+        <reimplementedby refid="classegiw_1425cbc53b377274e28c6add942bab62d">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classemix_1469e910479b3402589104ef3bb1b5741">evalpdflog</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute log-probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="156"/>
+        <referencedby refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_1bf0a070a8f3e67a93604ca724638b870" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>vec</type>
+        <definition>virtual vec epdf::mean</definition>
+        <argsstring>() const =0</argsstring>
+        <name>mean</name>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d">mean</reimplementedby>
+        <reimplementedby refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1">mean</reimplementedby>
+        <reimplementedby refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a">mean</reimplementedby>
+        <reimplementedby refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classemix_1b662a51d042b062020460e64bff4e9e8">mean</reimplementedby>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="159"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>General conjugate exponential family posterior density. </para>    </briefdescription>
+    <detaileddescription>
+<para>More?... </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="832">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="828" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="829">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="835">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="832" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="828" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="834">
+        <label>enorm&lt; chmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="832" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="828" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="833">
+        <label>enorm&lt; ldmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="832" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="828" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="830">
+        <label>egamma</label>
+        <link refid="classegamma"/>
+        <childnode refid="828" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="828">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="829" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="831">
+        <label>egiw</label>
+        <link refid="classegiw"/>
+        <childnode refid="828" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="837">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="838" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="838">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="836">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="837" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="38" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="38" bodyend="49"/>
+    <listofallmembers>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>eEF</scope><name>_rv</name></member>
+      <member refid="classeEF_15863718c3b2fb1496dece10c5b745d5c" prot="public" virt="virtual"><scope>eEF</scope><name>dupdate</name></member>
+      <member refid="classeEF_17e3c63655e8375c76bf1f421245427a7" prot="public" virt="non-virtual"><scope>eEF</scope><name>eEF</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>eEF</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>eEF</scope><name>epdf</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>eEF</scope><name>eval</name></member>
+      <member refid="classepdf_16aef3eca74899692503769c18add1a4c" prot="public" virt="pure-virtual"><scope>eEF</scope><name>evalpdflog</name></member>
+      <member refid="classeEF_169e5680dac10375d62520d26c672477d" prot="public" virt="pure-virtual"><scope>eEF</scope><name>lognc</name></member>
+      <member refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" prot="public" virt="pure-virtual"><scope>eEF</scope><name>mean</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>eEF</scope><name>rv</name></member>
+      <member refid="classepdf_18019654e494bf5e458f6fb947e11b262" prot="public" virt="pure-virtual"><scope>eEF</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>eEF</scope><name>sampleN</name></member>
+      <member refid="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" prot="public" virt="virtual"><scope>eEF</scope><name>tupdate</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>eEF</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classeuni.xml
===================================================================
--- /doc/xml/classeuni.xml (revision 187)
+++ /doc/xml/classeuni.xml (revision 187)
@@ -0,0 +1,315 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classeuni" kind="class" prot="public">
+    <compoundname>euni</compoundname>
+    <basecompoundref refid="classepdf" prot="public" virt="non-virtual">epdf</basecompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec euni::low</definition>
+        <argsstring></argsstring>
+        <name>low</name>
+        <briefdescription>
+<para>lower bound on support </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="192" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="192" bodyend="-1"/>
+        <referencedby refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1" compoundref="libEF_8h" startline="221" endline="221">mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">sample</referencedby>
+        <referencedby refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" compoundref="libEF_8h" startline="213" endline="220">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classeuni_171b6d6b41aeb61a7f76f682b72119231" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec euni::high</definition>
+        <argsstring></argsstring>
+        <name>high</name>
+        <briefdescription>
+<para>upper bound on support </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="194" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="194" bodyend="-1"/>
+        <referencedby refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1" compoundref="libEF_8h" startline="221" endline="221">mean</referencedby>
+        <referencedby refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" compoundref="libEF_8h" startline="213" endline="220">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classeuni_152a6ff4a54010f88a6a19fca605c64a4" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec euni::distance</definition>
+        <argsstring></argsstring>
+        <name>distance</name>
+        <briefdescription>
+<para>internal </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="196" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="196" bodyend="-1"/>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">sample</referencedby>
+        <referencedby refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" compoundref="libEF_8h" startline="213" endline="220">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classeuni_163105490e946e43372d6187ad1bafdda" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double euni::nk</definition>
+        <argsstring></argsstring>
+        <name>nk</name>
+        <briefdescription>
+<para>normalizing coefficients </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="198" bodyend="-1"/>
+        <referencedby refid="classeuni_12723d4992900b5c5495bfa03628195ed" compoundref="libEF_8h" startline="204" endline="204">eval</referencedby>
+        <referencedby refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" compoundref="libEF_8h" startline="213" endline="220">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double euni::lnk</definition>
+        <argsstring></argsstring>
+        <name>lnk</name>
+        <briefdescription>
+<para>cache of log( <computeroutput>nk</computeroutput> ) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="200" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="200" bodyend="-1"/>
+        <referencedby refid="classeuni_106af95d514a6623ad4688bd2ad50ad71" compoundref="libEF_8h" startline="205" endline="205">evalpdflog</referencedby>
+        <referencedby refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" compoundref="libEF_8h" startline="213" endline="220">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classeuni_12537a6c239cff52e3ba814851a1116cd" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>euni::euni</definition>
+        <argsstring>(const RV rv)</argsstring>
+        <name>euni</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rv</declname>
+        </param>
+        <briefdescription>
+<para>Defualt constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="203" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="203" bodyend="203"/>
+      </memberdef>
+      <memberdef kind="function" id="classeuni_12723d4992900b5c5495bfa03628195ed" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double euni::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplements refid="classepdf_13ea597362e11a0040fe7c990269d072c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="204" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="204" bodyend="204"/>
+        <references refid="classeuni_163105490e946e43372d6187ad1bafdda" compoundref="libEF_8h" startline="198">nk</references>
+      </memberdef>
+      <memberdef kind="function" id="classeuni_106af95d514a6623ad4688bd2ad50ad71" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double euni::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <reimplements refid="classepdf_16aef3eca74899692503769c18add1a4c">evalpdflog</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute log-probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="205" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="205" bodyend="205"/>
+        <references refid="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" compoundref="libEF_8h" startline="200">lnk</references>
+      </memberdef>
+      <memberdef kind="function" id="classeuni_14a0e09392be17beaee120ba98fc038cd" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec euni::sample</definition>
+        <argsstring>() const </argsstring>
+        <name>sample</name>
+        <reimplements refid="classepdf_18019654e494bf5e458f6fb947e11b262">sample</reimplements>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="206" bodyend="211"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" compoundref="libEF_8h" startline="196">distance</references>
+        <references refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" compoundref="libEF_8h" startline="192">low</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classeuni_14fd7c6a05100616ad16ece405cad7bf2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void euni::set_parameters</definition>
+        <argsstring>(const vec &amp;low0, const vec &amp;high0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>low0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>high0</declname>
+        </param>
+        <briefdescription>
+<para>set values of <computeroutput>low</computeroutput> and <computeroutput>high</computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="213" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="213" bodyend="220"/>
+        <references refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" compoundref="libEF_8h" startline="196">distance</references>
+        <references refid="classeuni_171b6d6b41aeb61a7f76f682b72119231" compoundref="libEF_8h" startline="194">high</references>
+        <references refid="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" compoundref="libEF_8h" startline="200">lnk</references>
+        <references refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" compoundref="libEF_8h" startline="192">low</references>
+        <references refid="classeuni_163105490e946e43372d6187ad1bafdda" compoundref="libEF_8h" startline="198">nk</references>
+      </memberdef>
+      <memberdef kind="function" id="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec euni::mean</definition>
+        <argsstring>() const </argsstring>
+        <name>mean</name>
+        <reimplements refid="classepdf_1bf0a070a8f3e67a93604ca724638b870">mean</reimplements>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="221" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="221" bodyend="221"/>
+        <references refid="classeuni_171b6d6b41aeb61a7f76f682b72119231" compoundref="libEF_8h" startline="194">high</references>
+        <references refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" compoundref="libEF_8h" startline="192">low</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Uniform distributed density on a rectangular support. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1026">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="1025">
+        <label>euni</label>
+        <link refid="classeuni"/>
+        <childnode refid="1026" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1028">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1029" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1029">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1027">
+        <label>euni</label>
+        <link refid="classeuni"/>
+        <childnode refid="1028" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="189" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="189" bodyend="222"/>
+    <listofallmembers>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>euni</scope><name>_rv</name></member>
+      <member refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" prot="protected" virt="non-virtual"><scope>euni</scope><name>distance</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>euni</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>euni</scope><name>epdf</name></member>
+      <member refid="classeuni_12537a6c239cff52e3ba814851a1116cd" prot="public" virt="non-virtual"><scope>euni</scope><name>euni</name></member>
+      <member refid="classeuni_12723d4992900b5c5495bfa03628195ed" prot="public" virt="virtual"><scope>euni</scope><name>eval</name></member>
+      <member refid="classeuni_106af95d514a6623ad4688bd2ad50ad71" prot="public" virt="virtual"><scope>euni</scope><name>evalpdflog</name></member>
+      <member refid="classeuni_171b6d6b41aeb61a7f76f682b72119231" prot="protected" virt="non-virtual"><scope>euni</scope><name>high</name></member>
+      <member refid="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" prot="protected" virt="non-virtual"><scope>euni</scope><name>lnk</name></member>
+      <member refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" prot="protected" virt="non-virtual"><scope>euni</scope><name>low</name></member>
+      <member refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1" prot="public" virt="virtual"><scope>euni</scope><name>mean</name></member>
+      <member refid="classeuni_163105490e946e43372d6187ad1bafdda" prot="protected" virt="non-virtual"><scope>euni</scope><name>nk</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>euni</scope><name>rv</name></member>
+      <member refid="classeuni_14a0e09392be17beaee120ba98fc038cd" prot="public" virt="virtual"><scope>euni</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>euni</scope><name>sampleN</name></member>
+      <member refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" prot="public" virt="non-virtual"><scope>euni</scope><name>set_parameters</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>euni</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classIMpmsm.xml
===================================================================
--- /doc/xml/classIMpmsm.xml (revision 187)
+++ /doc/xml/classIMpmsm.xml (revision 187)
@@ -0,0 +1,552 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classIMpmsm" kind="class" prot="public">
+    <compoundname>IMpmsm</compoundname>
+    <basecompoundref refid="classdiffbifn" prot="public" virt="non-virtual">diffbifn</basecompoundref>
+    <derivedcompoundref refid="classIMpmsmStat" prot="public" virt="non-virtual">IMpmsmStat</derivedcompoundref>
+    <includes refid="pmsm_8h" local="no">pmsm.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classIMpmsm_15908138b6c11f32971542423978a25d3" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Rs</definition>
+        <argsstring></argsstring>
+        <name>Rs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_1829e309d689b7e148d761d36b1b62fb7" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Ls</definition>
+        <argsstring></argsstring>
+        <name>Ls</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_1ec462f3df7355cc72843c945d887b9d3" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::dt</definition>
+        <argsstring></argsstring>
+        <name>dt</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_1a1b973c18d381e7ec717165aa306b613" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Ypm</definition>
+        <argsstring></argsstring>
+        <name>Ypm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_103f1857fb1910c7b06dac4ce50482516" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::kp</definition>
+        <argsstring></argsstring>
+        <name>kp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_10eddf56a8feb6b837ee3c36c0ac6b781" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::p</definition>
+        <argsstring></argsstring>
+        <name>p</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_183e4149bb70b022f3a19208f14eac0e3" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::J</definition>
+        <argsstring></argsstring>
+        <name>J</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_10aa4f9ee2b9babdc05f62ba275a9575f" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Mz</definition>
+        <argsstring></argsstring>
+        <name>Mz</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvx</definition>
+        <argsstring></argsstring>
+        <name>rvx</name>
+        <briefdescription>
+<para>Indentifier of the first rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="67" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indentifier of the second rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="69" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache for rvx.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" compoundref="libFN_8h" startline="91" endline="91">diffbifn::_dimx</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache for rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">diffbifn::eval</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classIMpmsm_1d12ba5bbd6154e2e920c21adab0cb8df" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>IMpmsm::IMpmsm</definition>
+        <argsstring>()</argsstring>
+        <name>IMpmsm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="21" bodyend="21"/>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void IMpmsm::set_parameters</definition>
+        <argsstring>(double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0)</argsstring>
+        <name>set_parameters</name>
+        <reimplementedby refid="classIMpmsmStat_16379210623a2d353d42bfc87ccbd4384">set_parameters</reimplementedby>
+        <param>
+          <type>double</type>
+          <declname>Rs0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ls0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>dt0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ypm0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>J0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Mz0</declname>
+        </param>
+        <briefdescription>
+<para>Set mechanical and electrical variables. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="23" bodyend="23"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsm_145785869d978dda42828a072ec2caebe" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec IMpmsm::eval</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03">eval</reimplements>
+        <reimplementedby refid="classIMpmsmStat_15ed3582c2c0edb0753387a82598f8d21">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="25" bodyend="46"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void IMpmsm::dfdx_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdx_cond</name>
+        <reimplements refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4">dfdx_cond</reimplements>
+        <reimplementedby refid="classIMpmsmStat_129a9c09fd328e89748d9be0801e84831">dfdx_cond</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="1">$A=\frac{d}{dx}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="48" bodyend="66"/>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void IMpmsm::dfdu_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdu_cond</name>
+        <reimplements refid="classdiffbifn_11978bafd7909d15c139a08c495c24aa0">dfdu_cond</reimplements>
+        <reimplementedby refid="classIMpmsmStat_1ff740ee20100ae2a2d03a2538638f8e8">dfdu_cond</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="2">$A=\frac{d}{du}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="68" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="68" bodyend="68"/>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec diffbifn::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula> (VS: Do we really need common eval? ). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="76" bodyend="80"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimx</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimx</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="91" bodyend="91"/>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimu</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimu</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="93" bodyend="93"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>State evolution model for a PMSM drive and its derivative with respect to <formula id="28">$x$</formula>$. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1048">
+        <label>IMpmsmStat</label>
+        <link refid="classIMpmsmStat"/>
+        <childnode refid="1045" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1046">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="1047" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1047">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="1045">
+        <label>IMpmsm</label>
+        <link refid="classIMpmsm"/>
+        <childnode refid="1046" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1052">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1050">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="1051" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1052" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="1051">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="1049">
+        <label>IMpmsm</label>
+        <link refid="classIMpmsm"/>
+        <childnode refid="1050" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="16" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="16" bodyend="70"/>
+    <listofallmembers>
+      <member refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" virt="non-virtual"><scope>IMpmsm</scope><name>_dimu</name></member>
+      <member refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" virt="non-virtual"><scope>IMpmsm</scope><name>_dimx</name></member>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>IMpmsm</scope><name>_dimy</name></member>
+      <member refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5" prot="public" virt="virtual"><scope>IMpmsm</scope><name>dfdu_cond</name></member>
+      <member refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1" prot="public" virt="virtual"><scope>IMpmsm</scope><name>dfdx_cond</name></member>
+      <member refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" prot="public" virt="non-virtual"><scope>IMpmsm</scope><name>diffbifn</name></member>
+      <member refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>dimu</name></member>
+      <member refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>dimx</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>dimy</name></member>
+      <member refid="classIMpmsm_1ec462f3df7355cc72843c945d887b9d3" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>dt</name></member>
+      <member refid="classIMpmsm_145785869d978dda42828a072ec2caebe" prot="public" virt="virtual"><scope>IMpmsm</scope><name>eval</name></member>
+      <member refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" virt="virtual" ambiguityscope="diffbifn::"><scope>IMpmsm</scope><name>eval</name></member>
+      <member refid="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" virt="non-virtual"><scope>IMpmsm</scope><name>fnc</name></member>
+      <member refid="classIMpmsm_1d12ba5bbd6154e2e920c21adab0cb8df" prot="public" virt="non-virtual"><scope>IMpmsm</scope><name>IMpmsm</name></member>
+      <member refid="classIMpmsm_183e4149bb70b022f3a19208f14eac0e3" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>J</name></member>
+      <member refid="classIMpmsm_103f1857fb1910c7b06dac4ce50482516" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>kp</name></member>
+      <member refid="classIMpmsm_1829e309d689b7e148d761d36b1b62fb7" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>Ls</name></member>
+      <member refid="classIMpmsm_10aa4f9ee2b9babdc05f62ba275a9575f" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>Mz</name></member>
+      <member refid="classIMpmsm_10eddf56a8feb6b837ee3c36c0ac6b781" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>p</name></member>
+      <member refid="classIMpmsm_15908138b6c11f32971542423978a25d3" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>Rs</name></member>
+      <member refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>rvu</name></member>
+      <member refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>rvx</name></member>
+      <member refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" prot="public" virt="non-virtual"><scope>IMpmsm</scope><name>set_parameters</name></member>
+      <member refid="classIMpmsm_1a1b973c18d381e7ec717165aa306b613" prot="protected" virt="non-virtual"><scope>IMpmsm</scope><name>Ypm</name></member>
+      <member refid="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" virt="virtual"><scope>IMpmsm</scope><name>~fnc</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classKalman.xml
===================================================================
--- /doc/xml/classKalman.xml (revision 187)
+++ /doc/xml/classKalman.xml (revision 187)
@@ -0,0 +1,742 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classKalman" kind="class" prot="public">
+    <compoundname>Kalman</compoundname>
+    <basecompoundref refid="classBM" prot="public" virt="non-virtual">BM</basecompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+    <templateparamlist>
+      <param>
+        <type>class</type>
+        <declname>sq_T</declname>
+        <defname>sq_T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; sq_T &gt;::rvy</definition>
+        <argsstring></argsstring>
+        <name>rvy</name>
+        <briefdescription>
+<para>Indetifier of output rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; sq_T &gt;::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indetifier of exogeneous rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="69" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; sq_T &gt;::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache of rv.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; sq_T &gt;::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>cache of rvy.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" compoundref="libKF_8h" startline="113" endline="118">Kalman&lt; fsqmat &gt;::set_est</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; sq_T &gt;::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache of rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="75" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; sq_T &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="77" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; sq_T &gt;::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="79" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; sq_T &gt;::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+<para>Matrix C. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="81" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+        <referencedby refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" compoundref="libKF_8h" startline="113" endline="118">Kalman&lt; fsqmat &gt;::set_est</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; sq_T &gt;::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Matrix D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="83" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" static="no" mutable="no">
+        <type>sq_T</type>
+        <definition>sq_T Kalman&lt; sq_T &gt;::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+<para>Matrix Q in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" static="no" mutable="no">
+        <type>sq_T</type>
+        <definition>sq_T Kalman&lt; sq_T &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Matrix R in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="87" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+        <referencedby refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; sq_T &gt;</type>
+        <definition>enorm&lt;sq_T&gt; Kalman&lt; sq_T &gt;::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density on $x_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="90" bodyend="-1"/>
+        <referencedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" compoundref="libKF_8h" startline="123" endline="123">Kalman&lt; fsqmat &gt;::_epdf</referencedby>
+        <referencedby refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" compoundref="libKF_8h" startline="113" endline="118">Kalman&lt; fsqmat &gt;::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; sq_T &gt;</type>
+        <definition>enorm&lt;sq_T&gt; Kalman&lt; sq_T &gt;::fy</definition>
+        <argsstring></argsstring>
+        <name>fy</name>
+        <briefdescription>
+<para>preditive density on $y_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="92" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" compoundref="libKF_8h" startline="113" endline="118">Kalman&lt; fsqmat &gt;::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; sq_T &gt;::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+<para>placeholder for <ref refid="classKalman" kindref="compound">Kalman</ref> gain </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="95" bodyend="-1"/>
+        <referencedby refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" compoundref="libKF_8h" startline="125" endline="125">Kalman&lt; fsqmat &gt;::__K</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; sq_T &gt;::_yp</definition>
+        <argsstring></argsstring>
+        <name>_yp</name>
+        <briefdescription>
+<para>cache of fy.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="97" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" static="no" mutable="no">
+        <type>sq_T &amp;</type>
+        <definition>sq_T&amp; Kalman&lt; sq_T &gt;::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+<para>cache of fy.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; sq_T &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>cache of est.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="101" bodyend="-1"/>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" static="no" mutable="no">
+        <type>sq_T &amp;</type>
+        <definition>sq_T&amp; Kalman&lt; sq_T &gt;::_P</definition>
+        <argsstring></argsstring>
+        <name>_P</name>
+        <briefdescription>
+<para>cache of est.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="103" bodyend="-1"/>
+        <referencedby refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" compoundref="libKF_8h" startline="127" endline="127">Kalman&lt; fsqmat &gt;::_dP</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>Kalman&lt; sq_T &gt;::Kalman</definition>
+        <argsstring>(RV rvx0, RV rvy0, RV rvu0)</argsstring>
+        <name>Kalman</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx0</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvy0</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="107" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="277" bodyend="282"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ce38e31810aea4db45a83ad05eaba009" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>Kalman&lt; sq_T &gt;::Kalman</definition>
+        <argsstring>(const Kalman&lt; sq_T &gt; &amp;K0)</argsstring>
+        <name>Kalman</name>
+        <param>
+          <type>const <ref refid="classKalman" kindref="compound">Kalman</ref>&lt; sq_T &gt; &amp;</type>
+          <declname>K0</declname>
+        </param>
+        <briefdescription>
+<para>Copy constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="109" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="260" bodyend="274"/>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; sq_T &gt;::_mu</references>
+        <references refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" compoundref="libKF_8h" startline="103">Kalman&lt; sq_T &gt;::_P</references>
+        <references refid="classKalman_145c9f928d2d62e0c884900fb3380f904" compoundref="libKF_8h" startline="99">Kalman&lt; sq_T &gt;::_Ry</references>
+        <references refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" compoundref="libKF_8h" startline="97">Kalman&lt; sq_T &gt;::_yp</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; sq_T &gt;::A</references>
+        <references refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" compoundref="libKF_8h" startline="79">Kalman&lt; sq_T &gt;::B</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; sq_T &gt;::C</references>
+        <references refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" compoundref="libKF_8h" startline="83">Kalman&lt; sq_T &gt;::D</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; sq_T &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; sq_T &gt;::R</references>
+        <references refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" compoundref="libKF_8h" startline="285" endline="299">Kalman&lt; sq_T &gt;::set_parameters</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; sq_T &gt;::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const mat &amp;B0, const mat &amp;C0, const mat &amp;D0, const sq_T &amp;R0, const sq_T &amp;Q0)</argsstring>
+        <name>set_parameters</name>
+        <reimplementedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793">set_parameters</reimplementedby>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <param>
+          <type>const sq_T &amp;</type>
+          <declname>R0</declname>
+        </param>
+        <param>
+          <type>const sq_T &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+<para>Set parameters with check of relevance. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="111" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="285" bodyend="299"/>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; sq_T &gt;::A</references>
+        <references refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" compoundref="libKF_8h" startline="79">Kalman&lt; sq_T &gt;::B</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; sq_T &gt;::C</references>
+        <references refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" compoundref="libKF_8h" startline="83">Kalman&lt; sq_T &gt;::D</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; sq_T &gt;::dimu</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; sq_T &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; sq_T &gt;::dimy</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; sq_T &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; sq_T &gt;::R</references>
+        <referencedby refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" compoundref="libKF_8h" startline="260" endline="274">Kalman&lt; sq_T &gt;::Kalman</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; sq_T &gt;::set_est</definition>
+        <argsstring>(const vec &amp;mu0, const sq_T &amp;P0)</argsstring>
+        <name>set_est</name>
+        <reimplementedby refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc">set_est</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>const sq_T &amp;</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>Set estimate values, used e.g. in initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="113" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="113" bodyend="118"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_17750ffd73f261828a32c18aaeb65c75c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; sq_T &gt;::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf">bayes</reimplements>
+        <reimplementedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1">bayes</reimplementedby>
+        <reimplementedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7">bayes</reimplementedby>
+        <reimplementedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1">bayes</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="121" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="302" bodyend="337"/>
+        <references refid="classKalman_1d422f51467c7a06174af2476d2826132" compoundref="libKF_8h" startline="95">Kalman&lt; sq_T &gt;::_K</references>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; sq_T &gt;::_mu</references>
+        <references refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" compoundref="libKF_8h" startline="103">Kalman&lt; sq_T &gt;::_P</references>
+        <references refid="classKalman_145c9f928d2d62e0c884900fb3380f904" compoundref="libKF_8h" startline="99">Kalman&lt; sq_T &gt;::_Ry</references>
+        <references refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" compoundref="libKF_8h" startline="97">Kalman&lt; sq_T &gt;::_yp</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; sq_T &gt;::A</references>
+        <references refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" compoundref="libKF_8h" startline="79">Kalman&lt; sq_T &gt;::B</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; sq_T &gt;::C</references>
+        <references refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" compoundref="libKF_8h" startline="83">Kalman&lt; sq_T &gt;::D</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; sq_T &gt;::dimu</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; sq_T &gt;::dimy</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classKalman_1e580ab06483952bd03f2e651763e184f" compoundref="libKF_8h" startline="92">Kalman&lt; sq_T &gt;::fy</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; sq_T &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; sq_T &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; Kalman&lt; sq_T &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="123" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; Kalman&lt; sq_T &gt;::__K</definition>
+        <argsstring>()</argsstring>
+        <name>__K</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="125" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec Kalman&lt; sq_T &gt;::_dP</definition>
+        <argsstring>()</argsstring>
+        <name>_dP</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="127" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para><ref refid="classKalman" kindref="compound">Kalman</ref> filter with covariance matrices in square root form. </para>    </briefdescription>
+    <detaileddescription>
+<para>Parameter evolution model:<formula id="6">\[ x_t = A x_{t-1} + B u_t + Q^{1/2} e_t \]</formula> Observation model: <formula id="7">\[ y_t = C x_{t-1} + C u_t + Q^{1/2} w_t. \]</formula> Where $e_t$ and $w_t$ are independent vectors Normal(0,1)-distributed disturbances. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1088">
+        <label>EKF&lt; sq_T &gt;</label>
+        <link refid="classEKF"/>
+        <childnode refid="1087" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1087">
+        <label>Kalman&lt; fsqmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1078" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1085">
+        <label>EKFCh</label>
+        <link refid="classEKFCh"/>
+        <childnode refid="1084" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1079">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="1082">
+        <label>KFcondR</label>
+        <link refid="classKFcondR"/>
+        <childnode refid="1080" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1086">
+        <label>EKF_unQ</label>
+        <link refid="classEKF__unQ"/>
+        <childnode refid="1085" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1085" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1085" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1081">
+        <label>KFcondQR</label>
+        <link refid="classKFcondQR"/>
+        <childnode refid="1080" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1084">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="1083" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1080">
+        <label>Kalman&lt; ldmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1078" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1083">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1078" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1078">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1079" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1092">
+        <label>sq_T</label>
+      </node>
+      <node id="1090">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="1091" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1091">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1089">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1090" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1092" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="1091" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="64" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="64" bodyend="128"/>
+    <listofallmembers>
+      <member refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" virt="non-virtual"><scope>Kalman</scope><name>__K</name></member>
+      <member refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" virt="non-virtual"><scope>Kalman</scope><name>_dP</name></member>
+      <member refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" virt="virtual"><scope>Kalman</scope><name>_epdf</name></member>
+      <member refid="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>Kalman</scope><name>_ll</name></member>
+      <member refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>_mu</name></member>
+      <member refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>_P</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>Kalman</scope><name>_rv</name></member>
+      <member refid="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>_Ry</name></member>
+      <member refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>_yp</name></member>
+      <member refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>A</name></member>
+      <member refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>B</name></member>
+      <member refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" prot="public" virt="virtual"><scope>Kalman</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>Kalman</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>Kalman</scope><name>BM</name></member>
+      <member refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>C</name></member>
+      <member refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>D</name></member>
+      <member refid="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>dimu</name></member>
+      <member refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>dimx</name></member>
+      <member refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>dimy</name></member>
+      <member refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>evalll</name></member>
+      <member refid="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>fy</name></member>
+      <member refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" prot="public" virt="non-virtual"><scope>Kalman</scope><name>Kalman</name></member>
+      <member refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" prot="public" virt="non-virtual"><scope>Kalman</scope><name>Kalman</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>ll</name></member>
+      <member refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>Q</name></member>
+      <member refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>rv</name></member>
+      <member refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>rvu</name></member>
+      <member refid="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" virt="non-virtual"><scope>Kalman</scope><name>rvy</name></member>
+      <member refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" virt="non-virtual"><scope>Kalman</scope><name>set_est</name></member>
+      <member refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" virt="non-virtual"><scope>Kalman</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>Kalman</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_4c8121b198cf3cf9b51dfa0b42c3d639.xml
===================================================================
--- /doc/xml/dir_4c8121b198cf3cf9b51dfa0b42c3d639.xml (revision 187)
+++ /doc/xml/dir_4c8121b198cf3cf9b51dfa0b42c3d639.xml (revision 187)
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_4c8121b198cf3cf9b51dfa0b42c3d639" kind="dir">
+    <compoundname>work/mixpp/bdm/</compoundname>
+    <innerdir refid="dir_d37b9ef643da2e8513ad02424f861908">work/mixpp/bdm/estim/</innerdir>
+    <innerdir refid="dir_2fb3beb803bff171408383e2b63dfbbb">work/mixpp/bdm/math/</innerdir>
+    <innerdir refid="dir_4cc0aca9f9f2bd2d7556276841792c4a">work/mixpp/bdm/stat/</innerdir>
+    <innerfile refid="itpp__ext_8cpp">itpp_ext.cpp</innerfile>
+    <innerfile refid="itpp__ext_8h">itpp_ext.h</innerfile>
+    <innerfile refid="osutils_8cpp">osutils.cpp</innerfile>
+    <innerfile refid="osutils_8h">osutils.h</innerfile>
+    <innerfile refid="userinfo_8cpp">userinfo.cpp</innerfile>
+    <innerfile refid="userinfo_8h">userinfo.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/bdm/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classPF.xml
===================================================================
--- /doc/xml/classPF.xml (revision 187)
+++ /doc/xml/classPF.xml (revision 187)
@@ -0,0 +1,410 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classPF" kind="class" prot="public">
+    <compoundname>PF</compoundname>
+    <basecompoundref refid="classBM" prot="public" virt="non-virtual">BM</basecompoundref>
+    <derivedcompoundref refid="classMPF" prot="public" virt="non-virtual">MPF&lt; BM_T &gt;</derivedcompoundref>
+    <includes refid="libPF_8h" local="no">libPF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int PF::n</definition>
+        <argsstring></argsstring>
+        <name>n</name>
+        <briefdescription>
+<para>number of particles; </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="34" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="34" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">bayes</referencedby>
+        <referencedby refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" compoundref="libPF_8h" startline="125" endline="130">MPF&lt; BM_T &gt;::set_est</referencedby>
+        <referencedby refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_11a0a09e309da997f63ae8e30d1e9806b" prot="protected" static="no" mutable="no">
+        <type><ref refid="classeEmp" kindref="compound">eEmp</ref></type>
+        <definition>eEmp PF::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="36" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_15c87aba508df321ff26536ced64dbb3a" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; PF::_w</definition>
+        <argsstring></argsstring>
+        <name>_w</name>
+        <briefdescription>
+<para>pointer into <computeroutput><ref refid="classeEmp" kindref="compound">eEmp</ref></computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="38" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="38" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_1cf7dad75e31215780a746c30e71ad9c5" prot="protected" static="no" mutable="no">
+        <type>Array&lt; vec &gt; &amp;</type>
+        <definition>Array&lt;vec&gt;&amp; PF::_samples</definition>
+        <argsstring></argsstring>
+        <name>_samples</name>
+        <briefdescription>
+<para>pointer into <computeroutput><ref refid="classeEmp" kindref="compound">eEmp</ref></computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="40" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">bayes</referencedby>
+        <referencedby refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" compoundref="libPF_8h" startline="125" endline="130">MPF&lt; BM_T &gt;::set_est</referencedby>
+        <referencedby refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_1d92ac103f88f8c21e197e90af5695a09" prot="protected" static="no" mutable="no">
+        <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+        <definition>mpdf&amp; PF::par</definition>
+        <argsstring></argsstring>
+        <name>par</name>
+        <briefdescription>
+<para>Parameter evolution model. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="42" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_1dd0a687a4515333d6809147335854e77" prot="protected" static="no" mutable="no">
+        <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+        <definition>mpdf&amp; PF::obs</definition>
+        <argsstring></argsstring>
+        <name>obs</name>
+        <briefdescription>
+<para>Observation model. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="44" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="44" bodyend="-1"/>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classPF_1e99f0d866721405dd281e315ecb690aa" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>PF::PF</definition>
+        <argsstring>(const RV &amp;rv0, mpdf &amp;par0, mpdf &amp;obs0, int n0)</argsstring>
+        <name>PF</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <param>
+          <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+          <declname>par0</declname>
+        </param>
+        <param>
+          <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+          <declname>obs0</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="49" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="47" bodyend="49"/>
+      </memberdef>
+      <memberdef kind="function" id="classPF_104d38fbcc0348b558212f530d9ec183e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void PF::set_est</definition>
+        <argsstring>(const epdf &amp;epdf0)</argsstring>
+        <name>set_est</name>
+        <reimplementedby refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553">set_est</reimplementedby>
+        <param>
+          <type>const <ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+          <declname>epdf0</declname>
+        </param>
+        <briefdescription>
+<para>Set posterior density by sampling from epdf0. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="52" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.cpp" bodystart="35" bodyend="41"/>
+        <references refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" compoundref="libPF_8h" startline="40">_samples</references>
+        <references refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" compoundref="libPF_8h" startline="34">n</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" compoundref="libPF_8h" startline="125" endline="130">MPF&lt; BM_T &gt;::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classPF_164f636bbd63bea9efd778214e6b631d3" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void PF::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf">bayes</reimplements>
+        <reimplementedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623">bayes</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Incremental Bayes rule. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>dt</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>vector of input data </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="53" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.cpp" bodystart="7" bodyend="33"/>
+        <references refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" compoundref="libPF_8h" startline="40">_samples</references>
+        <references refid="classPF_15c87aba508df321ff26536ced64dbb3a" compoundref="libPF_8h" startline="38">_w</references>
+        <references refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" compoundref="libPF_8h" startline="36">est</references>
+        <references refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</references>
+        <references refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" compoundref="libPF_8h" startline="34">n</references>
+        <references refid="classPF_1dd0a687a4515333d6809147335854e77" compoundref="libPF_8h" startline="44">obs</references>
+        <references refid="classPF_1d92ac103f88f8c21e197e90af5695a09" compoundref="libPF_8h" startline="42">par</references>
+        <references refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" compoundref="libEF_8cpp" startline="114" endline="197">eEmp::resample</references>
+        <references refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_13dc45554556926bde996a267636abe55" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>virtual epdf&amp; BM::_epdf</definition>
+        <argsstring>()=0</argsstring>
+        <name>_epdf</name>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classEKFfixed_1085cf16c573eda32d8d03619c6c4b518">_epdf</reimplementedby>
+        <reimplementedby refid="classMPF_1549e08268a46a250f21a33d06f19276a">_epdf</reimplementedby>
+        <reimplementedby refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2">_epdf</reimplementedby>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classARX_19d8eff7a9df81786191a4c55b27e5b8a">_epdf</reimplementedby>
+        <briefdescription>
+<para>Returns a pointer to the <ref refid="classepdf" kindref="compound">epdf</ref> representing posterior density on parameters. Use with care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="282"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Trivial particle filter with proposal density equal to parameter evolution model. </para>    </briefdescription>
+    <detaileddescription>
+<para>Posterior density is represented by a weighted empirical density (<computeroutput><ref refid="classeEmp" kindref="compound">eEmp</ref></computeroutput> ). </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1277">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="1278">
+        <label>MPF&lt; BM_T &gt;</label>
+        <link refid="classMPF"/>
+        <childnode refid="1276" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1276">
+        <label>PF</label>
+        <link refid="classPF"/>
+        <childnode refid="1277" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1283">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1281" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1280">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="1281" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1279">
+        <label>PF</label>
+        <link refid="classPF"/>
+        <childnode refid="1280" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1282" relation="usage">
+          <edgelabel>obs
+par</edgelabel>
+        </childnode>
+        <childnode refid="1284" relation="usage">
+          <edgelabel>est</edgelabel>
+        </childnode>
+      </node>
+      <node id="1284">
+        <label>eEmp</label>
+        <link refid="classeEmp"/>
+        <childnode refid="1283" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1281">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1282">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1281" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1283" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="31" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="31" bodyend="54"/>
+    <listofallmembers>
+      <member refid="classBM_13dc45554556926bde996a267636abe55" prot="public" virt="pure-virtual"><scope>PF</scope><name>_epdf</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>PF</scope><name>_ll</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>PF</scope><name>_rv</name></member>
+      <member refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" prot="protected" virt="non-virtual"><scope>PF</scope><name>_samples</name></member>
+      <member refid="classPF_15c87aba508df321ff26536ced64dbb3a" prot="protected" virt="non-virtual"><scope>PF</scope><name>_w</name></member>
+      <member refid="classPF_164f636bbd63bea9efd778214e6b631d3" prot="public" virt="virtual"><scope>PF</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>PF</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>PF</scope><name>BM</name></member>
+      <member refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" prot="protected" virt="non-virtual"><scope>PF</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>PF</scope><name>evalll</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>PF</scope><name>ll</name></member>
+      <member refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" prot="protected" virt="non-virtual"><scope>PF</scope><name>n</name></member>
+      <member refid="classPF_1dd0a687a4515333d6809147335854e77" prot="protected" virt="non-virtual"><scope>PF</scope><name>obs</name></member>
+      <member refid="classPF_1d92ac103f88f8c21e197e90af5695a09" prot="protected" virt="non-virtual"><scope>PF</scope><name>par</name></member>
+      <member refid="classPF_1e99f0d866721405dd281e315ecb690aa" prot="public" virt="non-virtual"><scope>PF</scope><name>PF</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>PF</scope><name>rv</name></member>
+      <member refid="classPF_104d38fbcc0348b558212f530d9ec183e" prot="public" virt="non-virtual"><scope>PF</scope><name>set_est</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>PF</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classDS.xml
===================================================================
--- /doc/xml/classDS.xml (revision 187)
+++ /doc/xml/classDS.xml (revision 187)
@@ -0,0 +1,197 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classDS" kind="class" prot="public">
+    <compoundname>DS</compoundname>
+    <derivedcompoundref refid="classMemDS" prot="public" virt="non-virtual">MemDS</derivedcompoundref>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classDS_11012025a1a3a1fdd24aa48698a3d3454" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV DS::Drv</definition>
+        <argsstring></argsstring>
+        <name>Drv</name>
+        <briefdescription>
+<para>Observed variables, returned by <computeroutput><ref refid="classDS_1db2dacc9e71a36eeb9c5c2ee402eeeb1" kindref="member">getdata()</ref></computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="233" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="233" bodyend="-1"/>
+        <referencedby refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" compoundref="libDS_8cpp" startline="28" endline="34">MemDS::linkrvs</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV DS::Urv</definition>
+        <argsstring></argsstring>
+        <name>Urv</name>
+        <briefdescription>
+<para>Action variables, accepted by <computeroutput><ref refid="classDS_10dfb6788b70c0d48a1f5276ed6c93039" kindref="member">write()</ref></computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="235" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="235" bodyend="-1"/>
+        <referencedby refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" compoundref="libDS_8cpp" startline="28" endline="34">MemDS::linkrvs</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classDS_1db2dacc9e71a36eeb9c5c2ee402eeeb1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void DS::getdata</definition>
+        <argsstring>(vec &amp;dt)</argsstring>
+        <name>getdata</name>
+        <reimplementedby refid="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449">getdata</reimplementedby>
+        <param>
+          <type>vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Returns full vector of observed data. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="238"/>
+      </memberdef>
+      <memberdef kind="function" id="classDS_14027575bc66ea358f9b03dd3be28fe1e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void DS::getdata</definition>
+        <argsstring>(vec &amp;dt, ivec &amp;indeces)</argsstring>
+        <name>getdata</name>
+        <reimplementedby refid="classMemDS_1900f1e1c9eb950f87e557c068628e60e">getdata</reimplementedby>
+        <param>
+          <type>vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>ivec &amp;</type>
+          <declname>indeces</declname>
+        </param>
+        <briefdescription>
+<para>Returns data records at indeces. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="240"/>
+      </memberdef>
+      <memberdef kind="function" id="classDS_10dfb6788b70c0d48a1f5276ed6c93039" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void DS::write</definition>
+        <argsstring>(vec &amp;ut)</argsstring>
+        <name>write</name>
+        <reimplementedby refid="classMemDS_1b120ed178f7c848f1227c928d8a79be8">write</reimplementedby>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ut</declname>
+        </param>
+        <briefdescription>
+<para>Accepts action variable and schedule it for application. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="242"/>
+      </memberdef>
+      <memberdef kind="function" id="classDS_1f4ae51a3bc1267a6a52fc229973afe85" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void DS::write</definition>
+        <argsstring>(vec &amp;ut, ivec &amp;indeces)</argsstring>
+        <name>write</name>
+        <reimplementedby refid="classMemDS_16279bf18d44343750747ecc12e050f09">write</reimplementedby>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ut</declname>
+        </param>
+        <param>
+          <type>ivec &amp;</type>
+          <declname>indeces</declname>
+        </param>
+        <briefdescription>
+<para>Accepts action variables at specific indeces. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="244"/>
+      </memberdef>
+      <memberdef kind="function" id="classDS_19a35ca9c9321dce2bf63bf668f785b75" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void DS::linkrvs</definition>
+        <argsstring>(RV &amp;drv, RV &amp;urv)</argsstring>
+        <name>linkrvs</name>
+        <reimplementedby refid="classMemDS_15f72b555e0e4a61de1440c457cf57007">linkrvs</reimplementedby>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>drv</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>urv</declname>
+        </param>
+        <briefdescription>
+<para>Method that assigns random variables to the datasource. Typically, the datasource will be constructed without knowledge of random variables. This method will associate existing variables with RVs. </para>        </briefdescription>
+        <detaileddescription>
+<para>(Inherited from m3k, may be deprecated soon). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="250"/>
+      </memberdef>
+      <memberdef kind="function" id="classDS_1470ba89e8e7c3c4d830803221b4e9be6" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void DS::step</definition>
+        <argsstring>()</argsstring>
+        <name>step</name>
+        <reimplementedby refid="classMemDS_121916feb3e5ff960855c09b06a0d279b">step</reimplementedby>
+        <briefdescription>
+<para>Moves from <formula id="38">$t$</formula> to <formula id="39">$t+1$</formula>, i.e. perfroms the actions and reads response of the system. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="253"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Abstract class for discrete-time sources of data. </para>    </briefdescription>
+    <detaileddescription>
+<para>The class abstracts operations of: (i) data aquisition, (ii) data-preprocessing, (iii) scaling of data, and (iv) data resampling from the task of estimation and control. Moreover, for controlled systems, it is able to receive the desired control action and perform it in the next step. (Or as soon as possible). </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="825">
+        <label>MemDS</label>
+        <link refid="classMemDS"/>
+        <childnode refid="824" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="824">
+        <label>DS</label>
+        <link refid="classDS"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="826">
+        <label>DS</label>
+        <link refid="classDS"/>
+        <childnode refid="827" relation="usage">
+          <edgelabel>Urv
+Drv</edgelabel>
+        </childnode>
+      </node>
+      <node id="827">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="230" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="230" bodyend="255"/>
+    <listofallmembers>
+      <member refid="classDS_11012025a1a3a1fdd24aa48698a3d3454" prot="protected" virt="non-virtual"><scope>DS</scope><name>Drv</name></member>
+      <member refid="classDS_1db2dacc9e71a36eeb9c5c2ee402eeeb1" prot="public" virt="non-virtual"><scope>DS</scope><name>getdata</name></member>
+      <member refid="classDS_14027575bc66ea358f9b03dd3be28fe1e" prot="public" virt="non-virtual"><scope>DS</scope><name>getdata</name></member>
+      <member refid="classDS_19a35ca9c9321dce2bf63bf668f785b75" prot="public" virt="non-virtual"><scope>DS</scope><name>linkrvs</name></member>
+      <member refid="classDS_1470ba89e8e7c3c4d830803221b4e9be6" prot="public" virt="non-virtual"><scope>DS</scope><name>step</name></member>
+      <member refid="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" prot="protected" virt="non-virtual"><scope>DS</scope><name>Urv</name></member>
+      <member refid="classDS_10dfb6788b70c0d48a1f5276ed6c93039" prot="public" virt="non-virtual"><scope>DS</scope><name>write</name></member>
+      <member refid="classDS_1f4ae51a3bc1267a6a52fc229973afe85" prot="public" virt="non-virtual"><scope>DS</scope><name>write</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmEF.xml
===================================================================
--- /doc/xml/classmEF.xml (revision 187)
+++ /doc/xml/classmEF.xml (revision 187)
@@ -0,0 +1,355 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmEF" kind="class" prot="public">
+    <compoundname>mEF</compoundname>
+    <basecompoundref refid="classmpdf" prot="public" virt="non-virtual">mpdf</basecompoundref>
+    <derivedcompoundref refid="classmgamma" prot="public" virt="non-virtual">mgamma</derivedcompoundref>
+    <derivedcompoundref refid="classmlnorm" prot="public" virt="non-virtual">mlnorm&lt; sq_T &gt;</derivedcompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmEF_18bf51fe8654d7b83c8c8afeb19409d4f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mEF::mEF</definition>
+        <argsstring>(const RV &amp;rv0, const RV &amp;rvc0)</argsstring>
+        <name>mEF</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvc0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="61" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="61" bodyend="61"/>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void mpdf::condition</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>condition</name>
+        <reimplementedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460">condition</reimplementedby>
+        <reimplementedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97">condition</reimplementedby>
+        <reimplementedby refid="classmmix_11a66629ec5c2b6f4740606cf737f0193">condition</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="195" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="195" bodyend="195"/>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">mpdf::_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf::mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix::mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Exponential family model. </para>    </briefdescription>
+    <detaileddescription>
+<para>More?... </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1167">
+        <label>mgamma</label>
+        <link refid="classmgamma"/>
+        <childnode refid="1165" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1166">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+      <node id="1169">
+        <label>mlnorm&lt; sq_T &gt;</label>
+        <link refid="classmlnorm"/>
+        <childnode refid="1165" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1165">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1166" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1168">
+        <label>mgamma_fix</label>
+        <link refid="classmgamma__fix"/>
+        <childnode refid="1167" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1173">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1172" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1172">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1171">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1172" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1173" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+      <node id="1170">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1171" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="57" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="57" bodyend="62"/>
+    <listofallmembers>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mEF</scope><name>_epdf</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mEF</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mEF</scope><name>_rvc</name></member>
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+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pwm_8cpp.xml
===================================================================
--- /doc/xml/pwm_8cpp.xml (revision 187)
+++ /doc/xml/pwm_8cpp.xml (revision 187)
@@ -0,0 +1,796 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pwm_8cpp" kind="file">
+    <compoundname>pwm.cpp</compoundname>
+    <includes local="no">math.h</includes>
+    <includes local="no">stdlib.h</includes>
+    <includes refid="pwm_8h" local="yes">pwm.h</includes>
+    <incdepgraph>
+      <node id="775">
+        <label>pwm.h</label>
+        <link refid="pwm_8h-source"/>
+      </node>
+      <node id="774">
+        <label>stdlib.h</label>
+      </node>
+      <node id="772">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp</label>
+        <link refid="pwm.cpp"/>
+        <childnode refid="773" relation="include">
+        </childnode>
+        <childnode refid="774" relation="include">
+        </childnode>
+        <childnode refid="775" relation="include">
+        </childnode>
+      </node>
+      <node id="773">
+        <label>math.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="pwm_8cpp_1525335710b53cb064ca56b936120431e" prot="public" static="no">
+        <name>_USE_MATH_DEFINES</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="12" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="12" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="pwm_8cpp_1daf2100f703a9431b674c5210eeb65a3" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double up</definition>
+        <argsstring></argsstring>
+        <name>up</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_12f875ebe908810d9666a2dcb4a28bd8e" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double up2</definition>
+        <argsstring></argsstring>
+        <name>up2</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_13d0e10d2a152c348be161be18c1deb5a" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dup</definition>
+        <argsstring></argsstring>
+        <name>dup</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_1a25c32c8e1605293535ff9baa435b758" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int smer</definition>
+        <argsstring></argsstring>
+        <name>smer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_1e2040e9b4693cfc54938a3b2d062591c" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int smer2</definition>
+        <argsstring></argsstring>
+        <name>smer2</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_1911020f0c2ee7248d3575189b06398c2" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int citac</definition>
+        <argsstring></argsstring>
+        <name>citac</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_1abf693f6b07594a20f4aa8d02a875399" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int citac2</definition>
+        <argsstring></argsstring>
+        <name>citac2</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_1278b61cc75f0dcbf7685ad230b12b1a4" prot="public" static="yes" mutable="no">
+        <type>int</type>
+        <definition>int citac_PR</definition>
+        <argsstring></argsstring>
+        <name>citac_PR</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_17a680e4d7a5e9346e499145d368b3425" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ladeni_pila</definition>
+        <argsstring></argsstring>
+        <name>ladeni_pila</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="34" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="34" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8cpp_10395b9b0cf279728c73762ea8b38752d" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ladeni_ur</definition>
+        <argsstring></argsstring>
+        <name>ladeni_ur</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="34" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="34" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pwm_8cpp_17513b869bbedd804e88eacb29ce7ce65" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_init</definition>
+        <argsstring>(double Ucn, double fc, double DT)</argsstring>
+        <name>pwm_full_init</name>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="36" bodyend="48"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8cpp_11f94887ac28aad48fbc0a58158d1bfc9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full</definition>
+        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *i, double fc, double *va_char, unsigned int pocet, double h)</argsstring>
+        <name>pwm_full</name>
+        <param>
+          <type>double *</type>
+          <declname>us</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Iz</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>i</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>va_char</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>pocet</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="50" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8cpp_1e1c2432789266f899d9b76a1116671ab" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new_init</definition>
+        <argsstring>(double h, double fc, double DT, int citac_init, int D_smer, int D_smer2)</argsstring>
+        <name>pwm_full_new_init</name>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>citac_init</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer2</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="20" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="217" bodyend="230"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8cpp_1c56bd9c40bf614797dcf24aaa772cb13" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new</definition>
+        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *is, double *va_char, unsigned int pocet)</argsstring>
+        <name>pwm_full_new</name>
+        <param>
+          <type>double *</type>
+          <declname>us</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Iz</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>is</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>va_char</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>pocet</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="150" bodyend="215"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8cpp_190a472aec25336c72743a4b078251e3d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new_init_3h</definition>
+        <argsstring>(double h, double fc, double DT, int citac_init, int D_smer, int D_smer2)</argsstring>
+        <name>pwm_full_new_init_3h</name>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>citac_init</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer2</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="233" bodyend="246"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8cpp_18dd985080259d21d1c0505551e3d187e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new_3h</definition>
+        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *is, double *va_char, unsigned int pocet, unsigned int mod)</argsstring>
+        <name>pwm_full_new_3h</name>
+        <param>
+          <type>double *</type>
+          <declname>us</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Iz</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>is</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>va_char</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>pocet</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>mod</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="249" bodyend="341"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8cpp_1868d0eed8fe05ebbce87ae4297619983" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>static double ubytek</definition>
+        <argsstring>(double *va_char, double I, unsigned int pocet)</argsstring>
+        <name>ubytek</name>
+        <param>
+          <type>double *</type>
+          <declname>va_char</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>I</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>pocet</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="129" bodyend="147"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*<sp/>modul<sp/>PWM<sp/>modulace</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>ubytky<sp/>a<sp/>mrtve<sp/>casy</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>shodna<sp/>verze<sp/>s<sp/>PWM_FULL_LC</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/><sp/>31.5.<sp/>2007</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"></highlight></codeline>
+<codeline lineno="8"><highlight class="comment"><sp/><sp/><sp/>VER.<sp/>zmenena<sp/>metoda<sp/>vypoctu<sp/>pily<sp/>(nove<sp/>funkce)</highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/><sp/>31.5.2007<sp/><sp/><sp/><sp/>Doplnena<sp/>PWM<sp/>se<sp/>treti<sp/>harmonickou<sp/>-<sp/>fce<sp/>pwm_full_new_3h(...)<sp/>-<sp/>prepinani<sp/>mezi<sp/>sinusovou<sp/>PWM<sp/>a<sp/>3.<sp/>harmonickou<sp/>pomoci<sp/>priznaku<sp/>mod!</highlight></codeline>
+<codeline lineno="10"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
+<codeline lineno="13"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stdlib.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pwm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*i,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="comment">//<sp/>PWM<sp/>se<sp/>treti<sp/>harmonickou</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>up,<sp/>up2,<sp/>dup;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>smer,<sp/>smer2;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac,<sp/>citac2,<sp/>citac_PR;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_pila,<sp/>ladeni_ur;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT)</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="38"><highlight class="comment">Ucn<sp/>...<sp/>jmenovite<sp/>napeti<sp/>kondenzatoru<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
+<codeline lineno="39"><highlight class="comment">fc<sp/><sp/>...<sp/>spinaci<sp/>frekvence</highlight></codeline>
+<codeline lineno="40"><highlight class="comment">h<sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
+<codeline lineno="41"><highlight class="comment">DT<sp/><sp/>...<sp/>velikost<sp/>mrtveho<sp/>casu</highlight></codeline>
+<codeline lineno="42"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/>smer=-1;<sp/>smer2=1;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/>up=Ucn/2;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>up=0.;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/>up2=up-2*Ucn*fc*DT;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h)</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="52"><highlight class="comment">u<sp/><sp/><sp/><sp/>...<sp/>pozadovane<sp/>napeti</highlight></codeline>
+<codeline lineno="53"><highlight class="comment">us<sp/><sp/><sp/>...<sp/>[usx,<sp/>usy]...vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight></codeline>
+<codeline lineno="54"><highlight class="comment">Iz<sp/><sp/><sp/>...<sp/>proud<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
+<codeline lineno="55"><highlight class="comment">Ucn<sp/><sp/>...<sp/>jmenovite<sp/>nap.<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
+<codeline lineno="56"><highlight class="comment">Uc<sp/><sp/><sp/>...<sp/>skutecne<sp/>napeti<sp/>na<sp/>C</highlight></codeline>
+<codeline lineno="57"><highlight class="comment">is<sp/><sp/><sp/>...<sp/>[isx,<sp/>isy]...proud<sp/>motorem</highlight></codeline>
+<codeline lineno="58"><highlight class="comment">va_char<sp/>...<sp/>VA-char<sp/>vykonovych<sp/>spinacu</highlight></codeline>
+<codeline lineno="59"><highlight class="comment">pocet<sp/><sp/><sp/>...<sp/>pocet<sp/>bodu<sp/>VA-charky</highlight></codeline>
+<codeline lineno="60"><highlight class="comment">h<sp/><sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
+<codeline lineno="61"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky<sp/>na<sp/>polovodicich</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/>ladeni_pila=up;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/>iabc[0]=*is;</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/>iabc[1]=(-*is+sqrt(3.)**(is+1))/2.;</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/>iabc[2]=(-*is-sqrt(3.)**(is+1))/2.;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/>ur[0]=*u;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/>ur[1]=(-*u+sqrt(3.)**(u+1))/2.;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/>ur[2]=(-*u-sqrt(3.)**(u+1))/2.;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(va_char,fabs(iabc[i]),pocet);</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>ubytku<sp/>a<sp/>mrtvych<sp/>casu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight><highlight class="comment">//<sp/>fazova<sp/>napeti<sp/>zateze</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/>ua=(2*ustr[0]-ustr[1]-ustr[2])/3;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/>ub=(2*ustr[1]-ustr[0]-ustr[2])/3;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/>uc=(2*ustr[2]-ustr[0]-ustr[1])/3;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily<sp/>pro<sp/>PWM<sp/>a<sp/>pily<sp/>pro<sp/>mrtve<sp/>casy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/>dup=2.*Ucn*fc*h;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/>up+=smer*dup;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up&gt;Ucn/2)</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/>{<sp/>up-=2*dup;</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/>smer=-1;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up&lt;-Ucn/2)</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/>{<sp/>up+=2.*dup;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/>smer=1;</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/>up2+=smer2*dup;</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up2&gt;Ucn/2)</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/>{<sp/>up2-=2.*dup;</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/>smer2=-1;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up2&lt;-Ucn/2)</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/>{<sp/>up2+=2.*dup;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/>smer2=1;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/>*Iz=(ustr[0]&gt;0)*iabc[0]+(ustr[1]&gt;0)*iabc[1]+(ustr[2]&gt;0)*iabc[2];</highlight></codeline>
+<codeline lineno="127"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet)</highlight></codeline>
+<codeline lineno="130"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/>ii=0;</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>((*(va_char+ii)&lt;I)<sp/>&amp;&amp;<sp/>(ii&lt;(pocet-1)))</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/>ii++;</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==(pocet-1))<sp/><sp/></highlight><highlight class="comment">//<sp/>konec<sp/>va_char<sp/>-<sp/>predpoklad<sp/>nasyceni<sp/>charky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii+pocet);</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==0)</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=0;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii-1+pocet)+(I-*(va_char+ii-1))/(*(va_char+ii)-*(va_char+ii-1))*(*(va_char+ii+pocet)-*(va_char+ii-1+pocet));</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
+<codeline lineno="147"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet)</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="152"><highlight class="comment">u<sp/><sp/><sp/><sp/>...<sp/>pozadovane<sp/>napeti</highlight></codeline>
+<codeline lineno="153"><highlight class="comment">us<sp/><sp/><sp/>...<sp/>[usx,<sp/>usy]...vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight></codeline>
+<codeline lineno="154"><highlight class="comment">Iz<sp/><sp/><sp/>...<sp/>proud<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
+<codeline lineno="155"><highlight class="comment">Ucn<sp/><sp/>...<sp/>jmenovite<sp/>nap.<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
+<codeline lineno="156"><highlight class="comment">Uc<sp/><sp/><sp/>...<sp/>skutecne<sp/>napeti<sp/>na<sp/>C</highlight></codeline>
+<codeline lineno="157"><highlight class="comment">is<sp/><sp/><sp/>...<sp/>[isx,<sp/>isy]...proud<sp/>motorem</highlight></codeline>
+<codeline lineno="158"><highlight class="comment">va_char<sp/>...<sp/>VA-char<sp/>vykonovych<sp/>spinacu</highlight></codeline>
+<codeline lineno="159"><highlight class="comment">pocet<sp/><sp/><sp/>...<sp/>pocet<sp/>bodu<sp/>VA-charky</highlight></codeline>
+<codeline lineno="160"><highlight class="comment">t<sp/><sp/><sp/><sp/>...<sp/>aktualni<sp/>cas<sp/>simulace</highlight></codeline>
+<codeline lineno="161"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="162"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky<sp/>na<sp/>polovodicich</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/>up=(double)citac/citac_PR*Ucn/2.;</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/>up2=(double)citac2/citac_PR*Ucn/2.;</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"></highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/>ladeni_pila=up;</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"></highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/>iabc[0]=*is;</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/>iabc[1]=(-*is+sqrt(3.)**(is+1))/2.;</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/>iabc[2]=(-*is-sqrt(3.)**(is+1))/2.;</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/>ur[0]=*u;</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/>ur[1]=(-*u+sqrt(3.)**(u+1))/2.;</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/>ur[2]=(-*u-sqrt(3.)**(u+1))/2.;</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(va_char,fabs(iabc[i]),pocet);</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"></highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>ubytku<sp/>a<sp/>mrtvych<sp/>casu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"></highlight><highlight class="comment">//<sp/>fazova<sp/>napeti<sp/>zateze</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/>ua=(2*ustr[0]-ustr[1]-ustr[2])/3;</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/>ub=(2*ustr[1]-ustr[0]-ustr[2])/3;</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/>uc=(2*ustr[2]-ustr[0]-ustr[1])/3;</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"></highlight></codeline>
+<codeline lineno="204"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/>*Iz=(ustr[0]&gt;0)*iabc[0]+(ustr[1]&gt;0)*iabc[1]+(ustr[2]&gt;0)*iabc[2];</highlight></codeline>
+<codeline lineno="209"><highlight class="normal"></highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>posun<sp/>pily<sp/>...<sp/>inkrement<sp/>citacu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac==citac_PR)||(citac==-citac_PR))<sp/>smer*=-1;</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac2==citac_PR)||(citac2==-citac_PR))<sp/>smer2*=-1;</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/>citac+=smer;</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/>citac2+=smer2;</highlight></codeline>
+<codeline lineno="215"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2)</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="219"><highlight class="comment">fc<sp/><sp/>...<sp/>spinaci<sp/>frekvence</highlight></codeline>
+<codeline lineno="220"><highlight class="comment">h<sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
+<codeline lineno="221"><highlight class="comment">DT<sp/><sp/>...<sp/>velikost<sp/>mrtveho<sp/>casu</highlight></codeline>
+<codeline lineno="222"><highlight class="comment">citac_init<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>citace</highlight></codeline>
+<codeline lineno="223"><highlight class="comment">D_smer,<sp/>D_smer1<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>smeru<sp/>citani</highlight></codeline>
+<codeline lineno="224"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="225"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/>smer=D_smer;<sp/>smer2=D_smer2;</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/>citac=citac_init;</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/>citac2=citac_init-(int)(DT/h);</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/>citac_PR=(int)(1./4./fc/h);</highlight></codeline>
+<codeline lineno="230"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"></highlight></codeline>
+<codeline lineno="232"><highlight class="normal"></highlight></codeline>
+<codeline lineno="233"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2)</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="235"><highlight class="comment">fc<sp/><sp/>...<sp/>spinaci<sp/>frekvence</highlight></codeline>
+<codeline lineno="236"><highlight class="comment">h<sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
+<codeline lineno="237"><highlight class="comment">DT<sp/><sp/>...<sp/>velikost<sp/>mrtveho<sp/>casu</highlight></codeline>
+<codeline lineno="238"><highlight class="comment">citac_init<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>citace</highlight></codeline>
+<codeline lineno="239"><highlight class="comment">D_smer,<sp/>D_smer1<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>smeru<sp/>citani</highlight></codeline>
+<codeline lineno="240"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/>smer=D_smer;<sp/>smer2=D_smer2;</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/>citac=citac_init;</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/>citac2=abs(citac_init-(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal">)(DT/h));</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/>citac_PR=(int)(1./2./fc/h);</highlight></codeline>
+<codeline lineno="246"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248"><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="251"><highlight class="comment">u<sp/><sp/><sp/><sp/>...<sp/>pozadovane<sp/>napeti<sp/>ve<sp/>formatu<sp/>u={Um,<sp/>beta}</highlight></codeline>
+<codeline lineno="252"><highlight class="comment">us<sp/><sp/><sp/>...<sp/>[usx,<sp/>usy]...vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight></codeline>
+<codeline lineno="253"><highlight class="comment">Iz<sp/><sp/><sp/>...<sp/>proud<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
+<codeline lineno="254"><highlight class="comment">Ucn<sp/><sp/>...<sp/>jmenovite<sp/>nap.<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
+<codeline lineno="255"><highlight class="comment">Uc<sp/><sp/><sp/>...<sp/>skutecne<sp/>napeti<sp/>na<sp/>C</highlight></codeline>
+<codeline lineno="256"><highlight class="comment">is<sp/><sp/><sp/>...<sp/>[isx,<sp/>isy]...proud<sp/>motorem</highlight></codeline>
+<codeline lineno="257"><highlight class="comment">va_char<sp/>...<sp/>VA-char<sp/>vykonovych<sp/>spinacu</highlight></codeline>
+<codeline lineno="258"><highlight class="comment">pocet<sp/><sp/><sp/>...<sp/>pocet<sp/>bodu<sp/>VA-charky</highlight></codeline>
+<codeline lineno="259"><highlight class="comment">t<sp/><sp/><sp/><sp/>...<sp/>aktualni<sp/>cas<sp/>simulace</highlight></codeline>
+<codeline lineno="260"><highlight class="comment">mod<sp/>...<sp/>mod=<sp/>-<sp/>sinusova<sp/>PWM;<sp/>mod=1<sp/>-<sp/>PWM<sp/>se<sp/>3.<sp/>harmonickou</highlight></codeline>
+<codeline lineno="261"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="262"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky<sp/>na<sp/>polovodicich</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>beta;</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U3;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>korekce<sp/>3.<sp/>harmonickou</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="268"><highlight class="normal"></highlight></codeline>
+<codeline lineno="269"><highlight class="normal"></highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/>Um=*u;</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/>beta=*(u+1);</highlight></codeline>
+<codeline lineno="272"><highlight class="normal"></highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="274"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>up=(double)citac/citac_PR*Ucn/2.;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="275"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>up2=(double)citac2/citac_PR*Ucn/2.;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="276"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily<sp/>presne<sp/>jako<sp/>v<sp/>procesoru</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="277"><highlight class="normal"><sp/><sp/>up=((double)citac/citac_PR-0.5)*Ucn;</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/>up2=((double)citac2/citac_PR-0.5)*Ucn;</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"></highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/>ladeni_pila=up;</highlight></codeline>
+<codeline lineno="281"><highlight class="normal"></highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/>iabc[0]=*is;</highlight></codeline>
+<codeline lineno="283"><highlight class="normal"><sp/><sp/>iabc[1]=(-*is+sqrt(3.)**(is+1))/2.;</highlight></codeline>
+<codeline lineno="284"><highlight class="normal"><sp/><sp/>iabc[2]=(-*is-sqrt(3.)**(is+1))/2.;</highlight></codeline>
+<codeline lineno="285"><highlight class="normal"></highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mod==0)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>sinusova<sp/>PWM</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="288"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*cos(beta);</highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*cos(beta-2./3.*M_PI);</highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*cos(beta+2./3.*M_PI);</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="292"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>PWM<sp/>se<sp/>3.<sp/>harmonickou</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="293"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="294"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>dle<sp/>Karla</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="295"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/>U3=0.13*cos(3.*beta);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="296"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>moje</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="297"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>U3=0.17*cos(3.*beta);</highlight></codeline>
+<codeline lineno="298"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*(cos(beta)-U3);</highlight></codeline>
+<codeline lineno="299"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*(cos(beta-2./3.*M_PI)-U3);</highlight></codeline>
+<codeline lineno="300"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*(cos(beta+2./3.*M_PI)-U3);</highlight></codeline>
+<codeline lineno="301"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="302"><highlight class="normal"></highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/>ladeni_ur=ur[0];</highlight></codeline>
+<codeline lineno="304"><highlight class="normal"></highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="306"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(va_char,fabs(iabc[i]),pocet);</highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
+<codeline lineno="308"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="309"><highlight class="normal"></highlight></codeline>
+<codeline lineno="310"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>ubytku<sp/>a<sp/>mrtvych<sp/>casu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="311"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="312"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
+<codeline lineno="313"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
+<codeline lineno="314"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
+<codeline lineno="315"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="316"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
+<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="318"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
+<codeline lineno="319"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
+<codeline lineno="320"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="321"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
+<codeline lineno="322"><highlight class="normal"></highlight></codeline>
+<codeline lineno="323"><highlight class="normal"></highlight><highlight class="comment">//<sp/>fazova<sp/>napeti<sp/>zateze</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="324"><highlight class="normal"><sp/><sp/>ua=(2.*ustr[0]-ustr[1]-ustr[2])/3.;</highlight></codeline>
+<codeline lineno="325"><highlight class="normal"><sp/><sp/>ub=(2.*ustr[1]-ustr[0]-ustr[2])/3.;</highlight></codeline>
+<codeline lineno="326"><highlight class="normal"><sp/><sp/>uc=(2.*ustr[2]-ustr[0]-ustr[1])/3.;</highlight></codeline>
+<codeline lineno="327"><highlight class="normal"></highlight></codeline>
+<codeline lineno="328"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="329"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
+<codeline lineno="330"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
+<codeline lineno="331"><highlight class="normal"></highlight></codeline>
+<codeline lineno="332"><highlight class="normal"><sp/><sp/>*Iz=(ustr[0]&gt;0)*iabc[0]+(ustr[1]&gt;0)*iabc[1]+(ustr[2]&gt;0)*iabc[2];</highlight></codeline>
+<codeline lineno="333"><highlight class="normal"></highlight></codeline>
+<codeline lineno="334"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>posun<sp/>pily<sp/>...<sp/>inkrement<sp/>citacu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="335"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>if<sp/>((citac==citac_PR)||(citac==-citac_PR))<sp/>smer*=-1;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="336"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>if<sp/>((citac2==citac_PR)||(citac2==-citac_PR))<sp/>smer2*=-1;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="337"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac==citac_PR)||(citac==0))<sp/>smer*=-1;</highlight></codeline>
+<codeline lineno="338"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac2==citac_PR)||(citac2==0))<sp/>smer2*=-1;</highlight></codeline>
+<codeline lineno="339"><highlight class="normal"><sp/><sp/>citac+=smer;</highlight></codeline>
+<codeline lineno="340"><highlight class="normal"><sp/><sp/>citac2+=smer2;</highlight></codeline>
+<codeline lineno="341"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/reference_8h.xml
===================================================================
--- /doc/xml/reference_8h.xml (revision 187)
+++ /doc/xml/reference_8h.xml (revision 187)
@@ -0,0 +1,236 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="reference_8h" kind="file">
+    <compoundname>reference.h</compoundname>
+    <includedby refid="ekf_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp</includedby>
+    <includedby refid="ekf__obj_8h" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</includedby>
+    <invincdepgraph>
+      <node id="780">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h</label>
+        <link refid="reference.h"/>
+        <childnode refid="781" relation="include">
+        </childnode>
+      </node>
+      <node id="781">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+    </invincdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="reference_8h_1267689c26dd33b897617b09bfd3d61ab" prot="public" static="no">
+        <name>Uref</name>
+        <initializer>600.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="21" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1eaa6fe421a77975813e77b5756ccc477" prot="public" static="no">
+        <name>Iref</name>
+        <initializer>(30.0*1.4142)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="22" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="22" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1aace33ca634a4d80e56c62b0e2fd59c7" prot="public" static="no">
+        <name>Wref</name>
+        <initializer>(6.283185*200.)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1022f840b07e4a894f68f31890f63d032" prot="public" static="no">
+        <name>Thetaref</name>
+        <initializer>3.141593</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_156662f108c8012e2db4e518d0c6a51af" prot="public" static="no">
+        <name>Mref</name>
+        <initializer>34.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="25" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_163e0cfc48d4e86baa220d1c90ee46374" prot="public" static="no">
+        <name>Fref</name>
+        <initializer>0.1989</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="26" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="26" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1c7349dbe5aa058842fbdb920d3d72573" prot="public" static="no">
+        <name>Qm</name>
+        <initializer>13</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1a1044bde2f0653831a7732bb11024778" prot="public" static="no">
+        <name>Imax</name>
+        <initializer>50.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="31" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="31" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_176d9ee5ac7584cb766fd1122ac38f3c6" prot="public" static="no">
+        <name>Umax</name>
+        <initializer>662.5</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_10dc2691f37ba6a4009460006aeda1c02" prot="public" static="no">
+        <name>K_I_p</name>
+        <initializer>(Imax/Iref)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="34" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="34" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_115e8b792a042d74802e50f7407c2778d" prot="public" static="no">
+        <name>K_U_p</name>
+        <initializer>(Umax/Uref)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="35" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="35" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1e6b60c0e6d15e765aad83760cf0ab547" prot="public" static="no">
+        <name>Q_K_I</name>
+        <initializer>14</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="37" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="37" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1410bef86a735ab2655a5020a50bb07ab" prot="public" static="no">
+        <name>Q_K_U</name>
+        <initializer>14</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="38" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="38" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_1b52ad0d1e7bf36cb2d2542a6d17ed115" prot="public" static="no">
+        <name>Isfault</name>
+        <initializer>(48.0/Iref)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="41" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="41" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="reference_8h_10a424dd77d1d5c50047cfec9890df688" prot="public" static="no">
+        <name>Ucmax_fault</name>
+        <initializer>(650.0/Uref)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" line="42" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/****************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Parametry<sp/>synchronniho<sp/>motoru<sp/>s<sp/>permanentnimi<sp/>magnety</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Definice<sp/>zakl.<sp/>parametru<sp/>pro<sp/>Pn=5.9kW</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/><sp/><sp/><sp/>10.9.2007</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">Pohon<sp/>NFR</highlight></codeline>
+<codeline lineno="12"><highlight class="comment"></highlight></codeline>
+<codeline lineno="13"><highlight class="comment">-<sp/>cidlo<sp/>proudu<sp/>Imax=55A<sp/>-&gt;<sp/>50A</highlight></codeline>
+<codeline lineno="14"><highlight class="comment">10.9.2007<sp/><sp/><sp/><sp/><sp/><sp/><sp/>zmena<sp/>reference<sp/>proudu<sp/>z<sp/>Iref=12*sqrt(2)<sp/>na<sp/>Iref=30*sqrt(2)</highlight></codeline>
+<codeline lineno="15"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zmena<sp/>reference<sp/>momentu<sp/>z<sp/>Mref=17.8<sp/>na<sp/>Mref=34</highlight></codeline>
+<codeline lineno="16"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zmena<sp/>reference<sp/>toku<sp/>z<sp/>Fref=1<sp/>na<sp/>Fref=Fmag=0.1989</highlight></codeline>
+<codeline lineno="17"><highlight class="comment">******************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pri<sp/>pouziti<sp/>Q13<sp/>se<sp/>za<sp/>vztazne<sp/>hodnoty<sp/>voli<sp/>jmenovite<sp/>hodnoty</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Uref<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>600.0</highlight></codeline>
+<codeline lineno="22"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Iref<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(30.0*1.4142)</highlight></codeline>
+<codeline lineno="23"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Wref<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(6.283185*200.)</highlight></codeline>
+<codeline lineno="24"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Thetaref<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>3.141593</highlight></codeline>
+<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Mref<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>34.0</highlight></codeline>
+<codeline lineno="26"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Fref<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>0.1989</highlight></codeline>
+<codeline lineno="27"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Qm<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>13<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>veliciny<sp/>motoru<sp/>jsou<sp/>v<sp/>presnosti<sp/>Qm</highlight></codeline>
+<codeline lineno="29"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="comment">//<sp/>parametry<sp/>cidel<sp/>-<sp/>maximalni<sp/>hodnoty<sp/>(Xmax)<sp/>...<sp/>vyuzivano<sp/>v<sp/>modulu<sp/>ADC</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Imax<sp/><sp/><sp/><sp/>50.0</highlight></codeline>
+<codeline lineno="32"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Umax<sp/><sp/><sp/><sp/>662.5<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>662.5<sp/>/<sp/>442.5<sp/>/<sp/>222.5</highlight></codeline>
+<codeline lineno="33"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>K_I_p<sp/><sp/><sp/>(Imax/Iref)<sp/><sp/><sp/><sp/><sp/>//<sp/>zesileni<sp/>cidel<sp/>proudu</highlight></codeline>
+<codeline lineno="35"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>K_U_p<sp/><sp/><sp/>(Umax/Uref)<sp/><sp/><sp/><sp/><sp/>//<sp/>zesileni<sp/>cidel<sp/>napeti</highlight></codeline>
+<codeline lineno="36"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Q_K_I<sp/><sp/><sp/>14<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>system<sp/>pro<sp/>zesileni<sp/>cidel<sp/>proudu<sp/>(konst.<sp/>K_I)</highlight></codeline>
+<codeline lineno="38"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_K_U<sp/><sp/><sp/>14<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>system<sp/>pro<sp/>zesileni<sp/>cidel<sp/>napeti<sp/>(konst.<sp/>K_U)</highlight></codeline>
+<codeline lineno="39"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">//<sp/>maximalni<sp/>proud<sp/>motoru,<sp/>pri<sp/>kterem<sp/>se<sp/>menic<sp/>vypina<sp/>-<sp/>porucha</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Isfault<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(48.0/Iref)</highlight></codeline>
+<codeline lineno="42"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Ucmax_fault<sp/><sp/><sp/><sp/><sp/>(650.0/Uref)</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/reference.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/emix_8h.xml
===================================================================
--- /doc/xml/emix_8h.xml (revision 187)
+++ /doc/xml/emix_8h.xml (revision 187)
@@ -0,0 +1,231 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="emix_8h" kind="file">
+    <compoundname>emix.h</compoundname>
+    <includes refid="libBM_8h" local="yes">libBM.h</includes>
+    <includes refid="libEF_8h" local="yes">libEF.h</includes>
+    <includedby refid="emix_8cpp" local="yes">work/git/mixpp/bdm/stat/emix.cpp</includedby>
+    <includedby refid="merger_8h" local="yes">work/git/mixpp/bdm/stat/merger.h</includedby>
+    <includedby refid="pmsm__mix_8cpp" local="no">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <includedby refid="testSmp_8cpp" local="no">work/git/mixpp/tests/testSmp.cpp</includedby>
+    <incdepgraph>
+      <node id="342">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="343" relation="include">
+        </childnode>
+      </node>
+      <node id="341">
+        <label>work/git/mixpp/bdm/stat/emix.h</label>
+        <link refid="emix.h"/>
+        <childnode refid="342" relation="include">
+        </childnode>
+        <childnode refid="344" relation="include">
+        </childnode>
+      </node>
+      <node id="346">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="343" relation="include">
+        </childnode>
+      </node>
+      <node id="344">
+        <label>libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="343" relation="include">
+        </childnode>
+        <childnode refid="345" relation="include">
+        </childnode>
+        <childnode refid="342" relation="include">
+        </childnode>
+        <childnode refid="346" relation="include">
+        </childnode>
+      </node>
+      <node id="343">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="345">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="343" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="348">
+        <label>work/git/mixpp/bdm/stat/merger.h</label>
+        <link refid="merger_8h"/>
+      </node>
+      <node id="347">
+        <label>work/git/mixpp/bdm/stat/emix.h</label>
+        <link refid="emix.h"/>
+        <childnode refid="348" relation="include">
+        </childnode>
+        <childnode refid="349" relation="include">
+        </childnode>
+      </node>
+      <node id="349">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classemix" prot="public">emix</innerclass>
+    <innerclass refid="classmprod" prot="public">mprod</innerclass>
+    <innerclass refid="classmmix" prot="public">mmix</innerclass>
+    <briefdescription>
+<para>Probability distributions for Mixtures of pdfs. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>MX_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MX_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libBM_8h" kindref="compound" tooltip="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">libEF.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="comment">//#include<sp/>&lt;std&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32" refid="classemix" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classemix" kindref="compound" tooltip="Mixture of epdfs.">emix</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="35" refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref>;</highlight></codeline>
+<codeline lineno="37" refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;epdf*&gt;<sp/><ref refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" kindref="member" tooltip="Component (epdfs).">Coms</ref>;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="40" refid="classemix_13a10c8481115a5460877272ddb6532a6" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classemix_13a10c8481115a5460877272ddb6532a6" kindref="member" tooltip="Default constructor.">emix</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>)<sp/>:<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>(<sp/>rv<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classemix_16ce82b24d7fe540ddbf44b472a005555" kindref="member" tooltip="Set weights w and components R.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;<ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref>,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Array&lt;epdf*&gt;<sp/>&amp;<ref refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classemix_10650601f24e633e0ab09aa1e46c14483" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="45" refid="classemix_1b662a51d042b062020460e64bff4e9e8" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classemix_1b662a51d042b062020460e64bff4e9e8" kindref="member" tooltip="return expected value">mean</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;<sp/>vec<sp/>mu<sp/>=<sp/>zeros<sp/>(<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref>.length();i++<sp/>)<sp/>{mu<sp/>+=<sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref><sp/>(<sp/>i<sp/>)<sp/>*<sp/><ref refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>(<sp/>i<sp/>)-&gt;mean();<sp/>}</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>mu;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="50" refid="classemix_1469e910479b3402589104ef3bb1b5741" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classemix_1469e910479b3402589104ef3bb1b5741" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sum<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref>.length();i++<sp/>)<sp/>{sum<sp/>+=<sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref><sp/>(<sp/>i<sp/>)<sp/>*<sp/><ref refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>(<sp/>i<sp/>)-&gt;evalpdflog<sp/>(<sp/>val<sp/>);}</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>log<sp/>(<sp/>sum<sp/>);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight><highlight class="comment">//Access<sp/>methods</highlight></codeline>
+<codeline lineno="59" refid="classemix_135baf0f62307455cebfbf462144b4dd8" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec&amp;<sp/><ref refid="classemix_135baf0f62307455cebfbf462144b4dd8" kindref="member" tooltip="returns a pointer to the internal mean value. Use with Care!">_w</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref>;}</highlight></codeline>
+<codeline lineno="60"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70" refid="classmprod" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmprod" kindref="compound" tooltip="Chain rule decomposition of epdf.">mprod</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pointers<sp/>to<sp/>epdfs</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;epdf*&gt;<sp/>epdfs;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;mpdf*&gt;<sp/>mpdfs;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight></codeline>
+<codeline lineno="79" refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;ivec&gt;<sp/><ref refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" kindref="member" tooltip="Indeces of rvs in common rv.">rvinds</ref>;</highlight></codeline>
+<codeline lineno="81" refid="classmprod_11725c7b497a27ab3c4889b846666b516" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;ivec&gt;<sp/><ref refid="classmprod_11725c7b497a27ab3c4889b846666b516" kindref="member" tooltip="Indeces of rvc in common rv.">rvcinrv</ref>;</highlight></codeline>
+<codeline lineno="83" refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;ivec&gt;<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref>;</highlight></codeline>
+<codeline lineno="85" refid="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" kindref="member" tooltip="Indicate independence of its factors.">independent</ref>;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>//!<sp/>Indicate<sp/>internal<sp/>creation<sp/>of<sp/>mpdfs<sp/>which<sp/>must<sp/>be<sp/>destroyed</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>bool<sp/>intermpdfs;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="90" refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" kindref="member" tooltip="Constructor from list of eFacs or list of mFacs.">mprod</ref><sp/>(<sp/>Array&lt;mpdf*&gt;<sp/>mFacs<sp/>)<sp/>:<sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref>(),<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref>()<sp/>),<sp/>n<sp/>(<sp/>mFacs.length()<sp/>),<sp/>epdfs<sp/>(<sp/>n<sp/>),<sp/>mpdfs<sp/>(<sp/>mFacs<sp/>),<sp/><ref refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" kindref="member" tooltip="Indeces of rvs in common rv.">rvinds</ref><sp/>(<sp/>n<sp/>),<sp/><ref refid="classmprod_11725c7b497a27ab3c4889b846666b516" kindref="member" tooltip="Indeces of rvc in common rv.">rvcinrv</ref><sp/>(<sp/>n<sp/>),<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>n<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>rv</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>.<ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">add</ref><sp/>(<sp/>mpdfs<sp/>(<sp/>i<sp/>)-&gt;<ref refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" kindref="member" tooltip="access function">_rv</ref>()<sp/>);<sp/></highlight><highlight class="comment">//add<sp/>rv<sp/>to<sp/>common<sp/>rvs.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>epdfs<sp/>(<sp/>i<sp/>)<sp/>=<sp/>&amp;<sp/>(<sp/>mpdfs<sp/>(<sp/>i<sp/>)-&gt;_epdf()<sp/>);<sp/></highlight><highlight class="comment">//<sp/>add<sp/>pointer<sp/>to<sp/>epdf</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>rvc</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref>.<ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">add</ref><sp/>(<sp/>mpdfs<sp/>(<sp/>i<sp/>)-&gt;<ref refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" kindref="member" tooltip="access function">_rv</ref>().subt<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref><sp/>)<sp/>);<sp/></highlight><highlight class="comment">//add<sp/>rv<sp/>to<sp/>common<sp/>rvs.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" kindref="member" tooltip="Indicate independence of its factors.">independent</ref><sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//test<sp/>rvc<sp/>of<sp/>mpdfs<sp/>and<sp/>fill<sp/>rvinds</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>find<sp/>ith<sp/>rv<sp/>in<sp/>common<sp/>rv</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" kindref="member" tooltip="Indeces of rvs in common rv.">rvinds</ref><sp/>(<sp/>i<sp/>)<sp/>=<sp/>mpdfs<sp/>(<sp/>i<sp/>)-&gt;_rv().dataind<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref><sp/>);</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>find<sp/>ith<sp/>rvc<sp/>in<sp/>common<sp/>rv</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmprod_11725c7b497a27ab3c4889b846666b516" kindref="member" tooltip="Indeces of rvc in common rv.">rvcinrv</ref><sp/>(<sp/>i<sp/>)<sp/>=<sp/>mpdfs<sp/>(<sp/>i<sp/>)-&gt;_rvc().dataind<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref><sp/>);</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>find<sp/>ith<sp/>rvc<sp/>in<sp/>common<sp/>rv</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>i<sp/>)<sp/>=<sp/>mpdfs<sp/>(<sp/>i<sp/>)-&gt;_rvc().dataind<sp/>(<sp/><ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref><sp/>);</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>i<sp/>).length()<sp/>&gt;0<sp/>)<sp/>{<ref refid="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" kindref="member" tooltip="Indicate independence of its factors.">independent</ref><sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;}</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>i<sp/>).length()<sp/>&gt;0<sp/>)<sp/>{<ref refid="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" kindref="member" tooltip="Indicate independence of its factors.">independent</ref><sp/>=<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;}</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>evalpdflog<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>res<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>n<sp/>-<sp/>1;i<sp/>&gt;<sp/>0;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>i<sp/>).length()<sp/>&gt;<sp/>0<sp/>)</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{mpdfs<sp/>(<sp/>i<sp/>)-&gt;condition<sp/>(<sp/>val<sp/>(<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>i<sp/>)<sp/>)<sp/>);}</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>add<sp/>logarithms</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>res<sp/>+=<sp/>epdfs<sp/>(<sp/>i<sp/>)-&gt;evalpdflog<sp/>(<sp/>val<sp/>(<sp/><ref refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" kindref="member" tooltip="Indeces of rvs in common rv.">rvinds</ref><sp/>(<sp/>i<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>res;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>samplecond<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond,<sp/>vec<sp/>&amp;ll<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>smp=zeros<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>condi;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>(<sp/>n<sp/>-<sp/>1<sp/>);i<sp/>&gt;=<sp/>0;i--<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>i<sp/>).length()<sp/>&gt;<sp/>0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>condi<sp/>=<sp/>zeros<sp/>(<sp/><ref refid="classmprod_11725c7b497a27ab3c4889b846666b516" kindref="member" tooltip="Indeces of rvc in common rv.">rvcinrv</ref>.length()<sp/>+<sp/><ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref>.length()<sp/>);</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>copy<sp/>data<sp/>in<sp/>condition</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>set_subvector<sp/>(<sp/>condi,<ref refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" kindref="member" tooltip="Indeces of rvc in common rvc.">rvcinds</ref><sp/>(<sp/>i<sp/>),<sp/>cond<sp/>);</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>copy<sp/>data<sp/>in<sp/>already<sp/>generated<sp/>sample</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>set_subvector<sp/>(<sp/>condi,<ref refid="classmprod_11725c7b497a27ab3c4889b846666b516" kindref="member" tooltip="Indeces of rvc in common rv.">rvcinrv</ref><sp/>(<sp/>i<sp/>),<sp/>smp<sp/>);</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mpdfs<sp/>(<sp/>i<sp/>)-&gt;condition<sp/>(<sp/>condi<sp/>);</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>copy<sp/>contribution<sp/>of<sp/>this<sp/>pdf<sp/>into<sp/>smp</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>set_subvector<sp/>(<sp/>smp,<ref refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" kindref="member" tooltip="Indeces of rvs in common rv.">rvinds</ref><sp/>(<sp/>i<sp/>),<sp/>epdfs<sp/>(<sp/>i<sp/>)-&gt;sample()<sp/>);</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>smp;</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mean()<sp/>const<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>tmp<sp/>(<sp/>rv.count()<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(<sp/>independent<sp/>)<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>(<sp/>int<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom<sp/>=<sp/>epdfs<sp/>(<sp/>i<sp/>)-&gt;mean();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>set_subvector<sp/>(<sp/>tmp,rvinds<sp/>(<sp/>i<sp/>),<sp/>pom<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>else<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>int<sp/>N=50*rv.count();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_warning<sp/>(<sp/>&quot;eprod.mean()<sp/>computed<sp/>by<sp/>sampling&quot;<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp<sp/>=<sp/>zeros<sp/>(<sp/>rv.count()<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>(<sp/>int<sp/>i=0;i&lt;N;i++<sp/>)<sp/>{<sp/>tmp<sp/>+=<sp/>sample();}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp<sp/>/=N;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>return<sp/>tmp;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~<ref refid="classmprod" kindref="compound" tooltip="Chain rule decomposition of epdf.">mprod</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="165"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170" refid="classmmix" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmmix" kindref="compound" tooltip="Mixture of mpdfs with constant weights, all mpdfs are of equal type.">mmix</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="173" refid="classmmix_1460632c7a0afd41b7840902181a7d85f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;mpdf*&gt;<sp/><ref refid="classmmix_1460632c7a0afd41b7840902181a7d85f" kindref="member" tooltip="Component (epdfs).">Coms</ref>;</highlight></codeline>
+<codeline lineno="175" refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classemix" kindref="compound" tooltip="Mixture of epdfs.">emix</ref><sp/><ref refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" kindref="member" tooltip="Internal epdf.">Epdf</ref>;</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="178" refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" kindref="member" tooltip="Default constructor.">mmix</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref><sp/>)<sp/>:<sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>(<sp/>rv,<sp/>rvc<sp/>),<sp/><ref refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" kindref="member" tooltip="Internal epdf.">Epdf</ref><sp/>(<sp/>rv<sp/>)<sp/>{<ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref><sp/>=<sp/>&amp;<ref refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" kindref="member" tooltip="Internal epdf.">Epdf</ref>;};</highlight></codeline>
+<codeline lineno="180" refid="classmmix_1e7681490a5c5b2d0a43f4e5842e10a9d" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmmix_1e7681490a5c5b2d0a43f4e5842e10a9d" kindref="member" tooltip="Set weights w and components R.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;w,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Array&lt;mpdf*&gt;<sp/>&amp;<ref refid="classmmix_1460632c7a0afd41b7840902181a7d85f" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;epdf*&gt;<sp/>Eps<sp/>(<sp/>Coms.length()<sp/>);</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>Coms.length();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eps<sp/>(<sp/>i<sp/>)<sp/>=<sp/>&amp;<sp/>(<sp/><ref refid="classmmix_1460632c7a0afd41b7840902181a7d85f" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>(<sp/>i<sp/>)-&gt;_epdf()<sp/>);</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" kindref="member" tooltip="Internal epdf.">Epdf</ref>.<ref refid="classemix_16ce82b24d7fe540ddbf44b472a005555" kindref="member" tooltip="Set weights w and components R.">set_parameters</ref><sp/>(<sp/>w,<sp/>Eps<sp/>);</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"></highlight></codeline>
+<codeline lineno="189" refid="classmmix_11a66629ec5c2b6f4740606cf737f0193" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmmix_11a66629ec5c2b6f4740606cf737f0193" kindref="member" tooltip="Update ep so that it represents this mpdf conditioned on rvc = cond.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classmmix_1460632c7a0afd41b7840902181a7d85f" kindref="member" tooltip="Component (epdfs).">Coms</ref>.length();i++<sp/>)<sp/>{<ref refid="classmmix_1460632c7a0afd41b7840902181a7d85f" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>(<sp/>i<sp/>)-&gt;condition<sp/>(<sp/>cond<sp/>);}</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="192"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//MX_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/loggers_8h.xml
===================================================================
--- /doc/xml/loggers_8h.xml (revision 187)
+++ /doc/xml/loggers_8h.xml (revision 187)
@@ -0,0 +1,150 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="loggers_8h" kind="file">
+    <compoundname>loggers.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">libBM.h</includes>
+    <includes refid="itpp__ext_8h" local="yes">../itpp_ext.h</includes>
+    <includedby refid="loggers_8cpp" local="yes">work/git/mixpp/bdm/stat/loggers.cpp</includedby>
+    <includedby refid="merg__pred_8cpp" local="no">work/git/mixpp/mpdm/merg_pred.cpp</includedby>
+    <includedby refid="pmsm__mix_8cpp" local="no">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <includedby refid="pmsm__sim2_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby>
+    <includedby refid="sim__var_8cpp" local="no">work/git/mixpp/pmsm/sim_var.cpp</includedby>
+    <includedby refid="sim__var__arx_8cpp" local="no">work/git/mixpp/pmsm/sim_var_arx.cpp</includedby>
+    <includedby refid="loggers__test_8cpp" local="no">work/git/mixpp/tests/loggers_test.cpp</includedby>
+    <incdepgraph>
+      <node id="432">
+        <label>work/git/mixpp/bdm/stat/loggers.h</label>
+        <link refid="loggers.h"/>
+        <childnode refid="433" relation="include">
+        </childnode>
+        <childnode refid="434" relation="include">
+        </childnode>
+        <childnode refid="435" relation="include">
+        </childnode>
+      </node>
+      <node id="434">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="433" relation="include">
+        </childnode>
+      </node>
+      <node id="435">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="433" relation="include">
+        </childnode>
+      </node>
+      <node id="433">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="436">
+        <label>work/git/mixpp/bdm/stat/loggers.h</label>
+        <link refid="loggers.h"/>
+        <childnode refid="437" relation="include">
+        </childnode>
+        <childnode refid="438" relation="include">
+        </childnode>
+        <childnode refid="439" relation="include">
+        </childnode>
+      </node>
+      <node id="439">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim__var__arx_8cpp"/>
+      </node>
+      <node id="438">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="437">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classlogger" prot="public">logger</innerclass>
+    <innerclass refid="classmemlog" prot="public">memlog</innerclass>
+    <innerclass refid="classdirfilelog" prot="public">dirfilelog</innerclass>
+    <briefdescription>
+<para>Loggers for storing results of experiments. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>LGR_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>LGR_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libBM_8h" kindref="compound" tooltip="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../itpp_ext.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::string;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28" refid="classlogger" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classlogger" kindref="compound" tooltip="Class for storing results (and semi-results) of an experiment.">logger</ref><sp/>{</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="31" refid="classlogger_183eea0cf4fbca59474d015f751f128a7" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;RV&gt;<sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>;</highlight></codeline>
+<codeline lineno="33" refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;string&gt;<sp/><ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref>;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="36" refid="classlogger_14f753a510e00c892b38e95c2284363a6" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classlogger_14f753a510e00c892b38e95c2284363a6" kindref="member" tooltip="Default constructor.">logger</ref><sp/>(<sp/>)<sp/>:<sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>(0),<ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref><sp/>(<sp/>0<sp/>)<sp/>{}</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39" refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>name=</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">id</highlight><highlight class="normal">=<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>.length();</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref>=concat<sp/>(<sp/><ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref>,<sp/>name<sp/>);<sp/></highlight><highlight class="comment">//<sp/>diff</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>.set_length(</highlight><highlight class="keywordtype">id</highlight><highlight class="normal">+1,</highlight><highlight class="keyword">true</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>(</highlight><highlight class="keywordtype">id</highlight><highlight class="normal">)=<sp/>rv;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>id;<sp/></highlight><highlight class="comment">//<sp/>identifier<sp/>of<sp/>the<sp/>last<sp/>entry</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classlogger_1efb5a59cb329f58810b09bd9cc270b78" kindref="member" tooltip="log this vector">logit</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">id</highlight><highlight class="normal">,<sp/>vec<sp/>v<sp/>)<sp/>=0;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classlogger_1709b3ebefa0da3ed371aa802b06512a2" kindref="member" tooltip="Shifts storage position for another time step.">step</ref>()<sp/>=0;</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54" refid="classlogger_151c1aa8a84a14097b51607a187ae3617" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classlogger_151c1aa8a84a14097b51607a187ae3617" kindref="member" tooltip="Finalize storing information.">finalize</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57" refid="classlogger_192c63a0a87392c62b9ed3c00faa9d5df" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classlogger_192c63a0a87392c62b9ed3c00faa9d5df" kindref="member" tooltip="for future use">~logger</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="58"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67" refid="classmemlog" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmemlog" kindref="compound" tooltip="Logging into matrices in data format in memory.">memlog</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classlogger" kindref="compound" tooltip="Class for storing results (and semi-results) of an experiment.">logger</ref><sp/>{</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="71" refid="classmemlog_14195f322897ededdac66c404b848ced3" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classmemlog_14195f322897ededdac66c404b848ced3" kindref="member" tooltip="Maximum length of vectors stored in memory.">maxlen</ref>;</highlight></codeline>
+<codeline lineno="73" refid="classmemlog_13410b4c002636508c43ddcba8d394520" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>;</highlight></codeline>
+<codeline lineno="75" refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;mat&gt;<sp/><ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref>;</highlight></codeline>
+<codeline lineno="77"><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="79" refid="classmemlog_1e056e819c5a65d4431bfe7955b1efe97" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmemlog_1e056e819c5a65d4431bfe7955b1efe97" kindref="member" tooltip="Default constructor.">memlog</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>maxlen0<sp/>)<sp/>:<sp/><ref refid="classlogger" kindref="compound" tooltip="Class for storing results (and semi-results) of an experiment.">logger</ref>(),<ref refid="classmemlog_14195f322897ededdac66c404b848ced3" kindref="member" tooltip="Maximum length of vectors stored in memory.">maxlen</ref><sp/>(<sp/>maxlen0<sp/>),<ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref><sp/>(<sp/>0<sp/>),<ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref><sp/>(<sp/>0<sp/>)<sp/>{}</highlight></codeline>
+<codeline lineno="81" refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" kindref="member" tooltip="Initialize storage.">init</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n<sp/>=<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>.length();</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref>.set_size<sp/>(<sp/>n<sp/>);<sp/></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{<ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref>(i).set_size<sp/>(<ref refid="classmemlog_14195f322897ededdac66c404b848ced3" kindref="member" tooltip="Maximum length of vectors stored in memory.">maxlen</ref>,<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>(i).count()<sp/>);}</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="87" refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" kindref="member" tooltip="Shifts storage position for another time step.">step</ref>()<sp/>{</highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>&lt;<ref refid="classmemlog_14195f322897ededdac66c404b848ced3" kindref="member" tooltip="Maximum length of vectors stored in memory.">maxlen</ref><sp/>)<sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>++;<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;memlog::ind<sp/>is<sp/>too<sp/>high;&quot;</highlight><highlight class="normal"><sp/>);}</highlight></codeline>
+<codeline lineno="88" refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" kindref="member" tooltip="log this vector">logit</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">id</highlight><highlight class="normal">,<sp/>vec<sp/>v<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(</highlight><highlight class="keywordtype">id</highlight><highlight class="normal">&lt;<ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref>.length(),</highlight><highlight class="stringliteral">&quot;Logger<sp/>was<sp/>not<sp/>initialized,<sp/>run<sp/>init().&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref><sp/>(<sp/></highlight><highlight class="keywordtype">id</highlight><highlight class="normal"><sp/>).set_row<sp/>(<sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>,v<sp/>);}</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmemlog_165571ebbb16577b5211adbb27baf769c" kindref="member" tooltip="Save values into an itfile named after fname.">itsave</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>fname);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="103" refid="classdirfilelog" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmemlog" kindref="compound" tooltip="Logging into matrices in data format in memory.">memlog</ref><sp/>{</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="107" refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" kindref="member" tooltip="name of the directory">dirname</ref>;</highlight></codeline>
+<codeline lineno="109" refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;string&gt;<sp/><ref refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" kindref="member" tooltip="Automatically generated.">scalarnames</ref>;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="114" refid="classdirfilelog_1802eeb6fc4ebf11d97638fd5dc651c68" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog_1802eeb6fc4ebf11d97638fd5dc651c68" kindref="member" tooltip="Default constructor.">dirfilelog</ref><sp/>(<sp/>std::string<sp/>dirname0,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>maxlen0<sp/>)<sp/>:<sp/><ref refid="classmemlog" kindref="compound" tooltip="Logging into matrices in data format in memory.">memlog</ref><sp/>(<sp/>maxlen0<sp/>),<sp/><ref refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" kindref="member" tooltip="name of the directory">dirname</ref><sp/>(<sp/>dirname0<sp/>),<sp/><ref refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" kindref="member" tooltip="Automatically generated.">scalarnames</ref><sp/>(<sp/>0<sp/>)<sp/>{}</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" kindref="member" tooltip="Initialize storage.">init</ref>();</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" kindref="member" tooltip="Shifts storage position for another time step.">step</ref>();</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" kindref="member" tooltip="Finalize storing information.">finalize</ref>();</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" kindref="member" tooltip="Write memory storage to disk.">write_buffers</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Len<sp/>);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"></highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>LGR_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/osutils_8h.xml
===================================================================
--- /doc/xml/osutils_8h.xml (revision 187)
+++ /doc/xml/osutils_8h.xml (revision 187)
@@ -0,0 +1,110 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="osutils_8h" kind="file">
+    <compoundname>osutils.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includedby refid="osutils_8cpp" local="yes">work/git/mixpp/bdm/osutils.cpp</includedby>
+    <includedby refid="loggers_8cpp" local="yes">work/git/mixpp/bdm/stat/loggers.cpp</includedby>
+    <incdepgraph>
+      <node id="331">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="330">
+        <label>work/git/mixpp/bdm/osutils.h</label>
+        <link refid="osutils.h"/>
+        <childnode refid="331" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innernamespace refid="namespacestd">std</innernamespace>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="osutils_8h_1ec0d016ef7ecdf0aa1ad86b121f50ef9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void get_fname</definition>
+        <argsstring>(char *filename, std::string &amp;dirname, std::string &amp;f)</argsstring>
+        <name>get_fname</name>
+        <param>
+          <type>char *</type>
+          <declname>filename</declname>
+        </param>
+        <param>
+          <type>std::string &amp;</type>
+          <declname>dirname</declname>
+        </param>
+        <param>
+          <type>std::string &amp;</type>
+          <declname>f</declname>
+        </param>
+        <briefdescription>
+<para>Function concats name of a directory and file. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/osutils.h" line="19"/>
+      </memberdef>
+      <memberdef kind="function" id="osutils_8h_1743784b68da338914e525d9cf074de5f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void makedir</definition>
+        <argsstring>(string &amp;dirname, bool rewrite=true)</argsstring>
+        <name>makedir</name>
+        <param>
+          <type>string &amp;</type>
+          <declname>dirname</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>rewrite</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Function creates a directory and raises it_error if it is not possible. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>dirname</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>name of the directory to be created </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>rewrite</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>if true then existence of the directory is not an error </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/osutils.h" line="27" bodyfile="/home/smidl/work/git/mixpp/bdm/osutils.cpp" bodystart="35" bodyend="45"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>Interface:<sp/>osutils</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Description:<sp/>Agr</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Author:<sp/>smidl<sp/>&lt;smidl@utia.cas.cz&gt;,<sp/>(C)<sp/>2008</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Copyright:<sp/>See<sp/>COPYING<sp/>file<sp/>that<sp/>comes<sp/>with<sp/>this<sp/>distribution</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">std;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>get_fname<sp/>(<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>filename,<sp/>std::string<sp/>&amp;dirname,<sp/>std::string<sp/>&amp;f<sp/>);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>makedir(</highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;dirname,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>rewrite<sp/>=<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">);</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/osutils.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classAssertXercesIsAlive_1_1XercesConnector.xml
===================================================================
--- /doc/xml/classAssertXercesIsAlive_1_1XercesConnector.xml (revision 187)
+++ /doc/xml/classAssertXercesIsAlive_1_1XercesConnector.xml (revision 187)
@@ -0,0 +1,59 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classAssertXercesIsAlive_1_1XercesConnector" kind="class" prot="private">
+    <compoundname>AssertXercesIsAlive::XercesConnector</compoundname>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classAssertXercesIsAlive_1_1XercesConnector_175291fdcef2aa0e82932f8bea37c82a8" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>AssertXercesIsAlive::XercesConnector::XercesConnector</definition>
+        <argsstring>()</argsstring>
+        <name>XercesConnector</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>Default constructor, which is intentionally declared as private and called only from static method &apos;StayAlive()&apos;. Therfore, it is called only once in the run of a application! </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="50" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="49" bodyend="53"/>
+      </memberdef>
+      <memberdef kind="function" id="classAssertXercesIsAlive_1_1XercesConnector_114c45f34a07e78abd8faec9d25a0d3dc" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>AssertXercesIsAlive::XercesConnector::~XercesConnector</definition>
+        <argsstring>()</argsstring>
+        <name>~XercesConnector</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="56" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="55" bodyend="59"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classAssertXercesIsAlive_1_1XercesConnector_1bd7d4596170f181ad61119b3abb82f35" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>static void AssertXercesIsAlive::XercesConnector::StayAlive</definition>
+        <argsstring>()</argsstring>
+        <name>StayAlive</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This method just touches the only instance of the XercesConnector class which is declared as a static local variable.</para><para>This way we know that Xerces was initialized properly when returning from StayAlive(). And what is more, the local nature of the inner variable prevents us before multiple initializations. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="68" bodyend="71"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Singleton class implementing the key property of the &apos;AssertXercesIsAlive&apos; class. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="45" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="44" bodyend="72"/>
+    <listofallmembers>
+      <member refid="classAssertXercesIsAlive_1_1XercesConnector_1bd7d4596170f181ad61119b3abb82f35" prot="public" virt="non-virtual"><scope>AssertXercesIsAlive::XercesConnector</scope><name>StayAlive</name></member>
+      <member refid="classAssertXercesIsAlive_1_1XercesConnector_175291fdcef2aa0e82932f8bea37c82a8" prot="private" virt="non-virtual"><scope>AssertXercesIsAlive::XercesConnector</scope><name>XercesConnector</name></member>
+      <member refid="classAssertXercesIsAlive_1_1XercesConnector_114c45f34a07e78abd8faec9d25a0d3dc" prot="private" virt="non-virtual"><scope>AssertXercesIsAlive::XercesConnector</scope><name>~XercesConnector</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_af7d8f39e1941908690b61b05b271c43.xml
===================================================================
--- /doc/xml/dir_af7d8f39e1941908690b61b05b271c43.xml (revision 187)
+++ /doc/xml/dir_af7d8f39e1941908690b61b05b271c43.xml (revision 187)
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_af7d8f39e1941908690b61b05b271c43" kind="dir">
+    <compoundname>work/mixpp/matlab/mex/</compoundname>
+    <innerfile refid="matlab_2mex_2arx_8cpp">arx.cpp</innerfile>
+    <innerfile refid="matlab_2mex_2arx__c_8cpp">arx_c.cpp</innerfile>
+    <innerfile refid="ill__polyfit_8m">ill_polyfit.m</innerfile>
+    <innerfile refid="linefit_8cpp">linefit.cpp</innerfile>
+    <innerfile refid="linefit2_8cpp">linefit2.cpp</innerfile>
+    <innerfile refid="matlab_2mex_2linefit2__c_8cpp">linefit2_c.cpp</innerfile>
+    <innerfile refid="sumitpp_8cpp">sumitpp.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/matlab/mex/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classKalmanCh.xml
===================================================================
--- /doc/xml/classKalmanCh.xml (revision 187)
+++ /doc/xml/classKalmanCh.xml (revision 187)
@@ -0,0 +1,789 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classKalmanCh" kind="class" prot="public">
+    <compoundname>KalmanCh</compoundname>
+    <basecompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; chmat &gt;</basecompoundref>
+    <derivedcompoundref refid="classEKFCh" prot="public" virt="non-virtual">EKFCh</derivedcompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanCh::preA</definition>
+        <argsstring></argsstring>
+        <name>preA</name>
+        <briefdescription>
+<para>pre array (triangular matrix) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="135" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="135" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanCh::postA</definition>
+        <argsstring></argsstring>
+        <name>postA</name>
+        <briefdescription>
+<para>post array (triangular matrix) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="137" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="137" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; chmat  &gt;::rvy</definition>
+        <argsstring></argsstring>
+        <name>rvy</name>
+        <briefdescription>
+<para>Indetifier of output rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; chmat  &gt;::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indetifier of exogeneous rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="69" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache of rv.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>cache of rvy.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache of rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="75" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="77" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="79" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+<para>Matrix C. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="81" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Matrix D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="83" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref></type>
+        <definition>chmat  Kalman&lt; chmat  &gt;::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+<para>Matrix Q in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref></type>
+        <definition>chmat  Kalman&lt; chmat  &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Matrix R in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="87" bodyend="-1"/>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classchmat" kindref="compound">chmat</ref> &gt;</type>
+        <definition>enorm&lt;chmat &gt; Kalman&lt; chmat  &gt;::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density on $x_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="90" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" compoundref="libKF_8h" startline="144" endline="146">set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classchmat" kindref="compound">chmat</ref> &gt;</type>
+        <definition>enorm&lt;chmat &gt; Kalman&lt; chmat  &gt;::fy</definition>
+        <argsstring></argsstring>
+        <name>fy</name>
+        <briefdescription>
+<para>preditive density on $y_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="92" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+<para>placeholder for <ref refid="classKalman" kindref="compound">Kalman</ref> gain </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="95" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; chmat  &gt;::_yp</definition>
+        <argsstring></argsstring>
+        <name>_yp</name>
+        <briefdescription>
+<para>cache of fy.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="97" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; Kalman&lt; chmat  &gt;::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+<para>cache of fy.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; chmat  &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>cache of est.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="101" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; Kalman&lt; chmat  &gt;::_P</definition>
+        <argsstring></argsstring>
+        <name>_P</name>
+        <briefdescription>
+<para>cache of est.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="103" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classKalmanCh_1d11f110cccaa66177514632d37b086bb" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>KalmanCh::KalmanCh</definition>
+        <argsstring>(RV rvx0, RV rvy0, RV rvu0)</argsstring>
+        <name>KalmanCh</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx0</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvy0</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="141" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="141" bodyend="141"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanCh_192fb227287af05c9f0078d523c7c9793" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void KalmanCh::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const mat &amp;B0, const mat &amp;C0, const mat &amp;D0, const chmat &amp;R0, const chmat &amp;Q0)</argsstring>
+        <name>set_parameters</name>
+        <reimplements refid="classKalman_1239b28a0380946f5749b2f8d2807f93a">set_parameters</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>R0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+<para>Set parameters with check of relevance. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="143" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="118" bodyend="125"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; chmat &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void KalmanCh::set_est</definition>
+        <argsstring>(const vec &amp;mu0, const chmat &amp;P0)</argsstring>
+        <name>set_est</name>
+        <reimplements refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0">set_est</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>Set estimate values, used e.g. in initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="144" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="144" bodyend="146"/>
+        <references refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" compoundref="libKF_8h" startline="90">Kalman&lt; chmat &gt;::est</references>
+        <references refid="classenorm_11394a65caa6e00d42e00cc99b12227af" compoundref="libEF_8h" startline="348" endline="352">enorm&lt; sq_T &gt;::set_parameters</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanCh_1cca758192846940409822b9bd778d4e1" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void KalmanCh::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classKalman_17750ffd73f261828a32c18aaeb65c75c">bayes</reimplements>
+        <reimplementedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1">bayes</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+<para>The following equality hold::<formula id="17">\[ \left[\begin{array}{cc} R^{0.5}\\ P_{t|t-1}^{0.5}C&apos; &amp; P_{t|t-1}^{0.5}CA&apos;\\ &amp; Q^{0.5}\end{array}\right]&lt;\mathrm{orth.oper.}&gt;=\left[\begin{array}{cc} R_{y}^{0.5} &amp; KA&apos;\\ &amp; P_{t+1|t}^{0.5}\\ \\\end{array}\right]\]</formula></para><para>Thus this object evaluates only predictors! Not filtering densities. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="162" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="128" bodyend="162"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_1d422f51467c7a06174af2476d2826132" compoundref="libKF_8h" startline="95">Kalman&lt; chmat &gt;::_K</references>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; chmat &gt;::_mu</references>
+        <references refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" compoundref="libKF_8h" startline="103">Kalman&lt; chmat &gt;::_P</references>
+        <references refid="classKalman_145c9f928d2d62e0c884900fb3380f904" compoundref="libKF_8h" startline="99">Kalman&lt; chmat &gt;::_Ry</references>
+        <references refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" compoundref="libKF_8h" startline="97">Kalman&lt; chmat &gt;::_yp</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; chmat &gt;::A</references>
+        <references refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" compoundref="libKF_8h" startline="79">Kalman&lt; chmat &gt;::B</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; chmat &gt;::C</references>
+        <references refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" compoundref="libKF_8h" startline="83">Kalman&lt; chmat &gt;::D</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; chmat &gt;::dimu</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</references>
+        <references refid="classKalman_1e580ab06483952bd03f2e651763e184f" compoundref="libKF_8h" startline="92">Kalman&lt; chmat &gt;::fy</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" compoundref="libKF_8h" startline="137">postA</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">preA</references>
+        <references refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" compoundref="chmat_8cpp" startline="19" endline="19">chmat::to_mat</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; Kalman&lt; chmat  &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="123" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; Kalman&lt; chmat  &gt;::__K</definition>
+        <argsstring>()</argsstring>
+        <name>__K</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="125" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec Kalman&lt; chmat  &gt;::_dP</definition>
+        <argsstring>()</argsstring>
+        <name>_dP</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="127" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para><ref refid="classKalman" kindref="compound">Kalman</ref> filter in square root form. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1097">
+        <label>EKFCh</label>
+        <link refid="classEKFCh"/>
+        <childnode refid="1093" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1095">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="1098">
+        <label>EKF_unQ</label>
+        <link refid="classEKF__unQ"/>
+        <childnode refid="1097" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1097" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1097" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1093">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="1094" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1094">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1095" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1096" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1096">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1095" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1108">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1106" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1109" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="1109">
+        <label>sq_T</label>
+      </node>
+      <node id="1107">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1102" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1101">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="1102" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1102">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1104">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="1099">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="1100" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1100">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1101" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1103" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="1102" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+        <childnode refid="1105" relation="usage">
+          <edgelabel>est
+fy</edgelabel>
+        </childnode>
+        <childnode refid="1110" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1105">
+        <label>enorm&lt; chmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1106" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1103" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="1108" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1110">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1101" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1109" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="1102" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+      </node>
+      <node id="1103">
+        <label>chmat</label>
+        <link refid="classchmat"/>
+        <childnode refid="1104" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1106">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1107" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="132" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="132" bodyend="163"/>
+    <listofallmembers>
+      <member refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>__K</name></member>
+      <member refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>_dP</name></member>
+      <member refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" virt="virtual"><scope>KalmanCh</scope><name>_epdf</name></member>
+      <member refid="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>_ll</name></member>
+      <member refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>_mu</name></member>
+      <member refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>_P</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>_rv</name></member>
+      <member refid="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>_Ry</name></member>
+      <member refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>_yp</name></member>
+      <member refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>A</name></member>
+      <member refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>B</name></member>
+      <member refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" prot="public" virt="virtual"><scope>KalmanCh</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>KalmanCh</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>BM</name></member>
+      <member refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>C</name></member>
+      <member refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>D</name></member>
+      <member refid="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>dimu</name></member>
+      <member refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>dimx</name></member>
+      <member refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>dimy</name></member>
+      <member refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>evalll</name></member>
+      <member refid="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>fy</name></member>
+      <member refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>Kalman</name></member>
+      <member refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>Kalman</name></member>
+      <member refid="classKalmanCh_1d11f110cccaa66177514632d37b086bb" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>KalmanCh</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>ll</name></member>
+      <member refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>postA</name></member>
+      <member refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>preA</name></member>
+      <member refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>Q</name></member>
+      <member refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>rv</name></member>
+      <member refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>rvu</name></member>
+      <member refid="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" virt="non-virtual"><scope>KalmanCh</scope><name>rvy</name></member>
+      <member refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>set_est</name></member>
+      <member refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" prot="public" virt="non-virtual"><scope>KalmanCh</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>KalmanCh</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf__example_2nastaveni__regulatoru__float_8h.xml
===================================================================
--- /doc/xml/ekf__example_2nastaveni__regulatoru__float_8h.xml (revision 187)
+++ /doc/xml/ekf__example_2nastaveni__regulatoru__float_8h.xml (revision 187)
@@ -0,0 +1,422 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf__example_2nastaveni__regulatoru__float_8h" kind="file">
+    <compoundname>nastaveni_regulatoru_float.h</compoundname>
+    <includedby refid="ekf__example_2regulace_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp</includedby>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1d7897c37e49be8364a1fd1702262b72b" prot="public" static="no">
+        <name>Ismax</name>
+        <initializer>40.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="13" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="13" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1c8882337f06a374c43eb16d0be508885" prot="public" static="no">
+        <name>Kpi</name>
+        <initializer>20.</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="16" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="16" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_13e3ea04c138a4aeab30af0c8b3f9e81e" prot="public" static="no">
+        <name>Tii</name>
+        <initializer>0.005</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="17" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_132365fb2a4808089b42f412fe7db14c3" prot="public" static="no">
+        <name>MAXi</name>
+        <initializer>1199.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1e42e36aa22d7f1626eec9986d58fc318" prot="public" static="no">
+        <name>Q_Kpi</name>
+        <initializer>15</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="19" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_13b0e031e88229b9f1a69b06303e4c351" prot="public" static="no">
+        <name>Q_Kii</name>
+        <initializer>15</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="20" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="20" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_13a8f990a1c729e733faad38c19b4b438" prot="public" static="no">
+        <name>Kpurm</name>
+        <initializer>50.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_19da00436f585c80347466fe8c3ba3c0c" prot="public" static="no">
+        <name>Tiurm</name>
+        <initializer>0.05</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_172a3d07230efbac58f03d4420c170dc4" prot="public" static="no">
+        <name>MINurm</name>
+        <initializer>(-0.95*Ismax)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="25" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1bbfb453c8873d44bbd89aeb81e78722b" prot="public" static="no">
+        <name>Tfurm</name>
+        <initializer>0.01</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="26" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="26" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_17fcd5b3bdb30aacc956f08a23094aa81" prot="public" static="no">
+        <name>Q_Kpurm</name>
+        <initializer>12</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="27" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_15109e3c0bd0b1b87be1343ed6945d0ba" prot="public" static="no">
+        <name>Q_Kiurm</name>
+        <initializer>15</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_17c97475ebde6a30cac6e7817f15d9fb6" prot="public" static="no">
+        <name>Q_Kturm</name>
+        <initializer>15</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_12d90029887dcc9ddbfe2de58e7000eb2" prot="public" static="no">
+        <name>Q_Kodv_ud</name>
+        <initializer>15</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1bfa19d7a61e2efc22daf83073cae7d74" prot="public" static="no">
+        <name>Kpw</name>
+        <initializer>3.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="35" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="35" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1c2fbc4671c603f46890a6f004ca205fe" prot="public" static="no">
+        <name>Tiw</name>
+        <initializer>0.1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="36" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="36" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1fa3cf636e3004792891966e314edbb21" prot="public" static="no">
+        <name>MAXw</name>
+        <initializer>Ismax</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="37" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="37" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_11b436337c2afb059d3cafab86f93d5ee" prot="public" static="no">
+        <name>Q_Kpw</name>
+        <initializer>7</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="38" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="38" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1429a6c97d5e5da9b64dba884997982e3" prot="public" static="no">
+        <name>Q_Kiw</name>
+        <initializer>15</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="39" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="39" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_104e22928f4707f2e7f09ad397a0ab0ac" prot="public" static="no">
+        <name>Q_K_Fs</name>
+        <initializer>15</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="42" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_173b90a8b30df78a940e443dece1dc2f1" prot="public" static="no">
+        <name>Q_K_moment</name>
+        <initializer>12</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="43" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="43" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1f7a3544d47fd0e432eace2ad9d0ff97f" prot="public" static="no">
+        <name>Tfuc</name>
+        <initializer>0.1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1b9909566817f4308836298061b112438" prot="public" static="no">
+        <name>Tfid</name>
+        <initializer>0.1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_18db7ee2a18448ba7fcc2fe312aae4225" prot="public" static="no">
+        <name>prechod_1_2</name>
+        <initializer>(2.*M_PI*75.)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="53" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="53" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1927c4eeacd3840704ef1c574c0d5ab6f" prot="public" static="no">
+        <name>prechod_2_1</name>
+        <initializer>(2.*M_PI*70.)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="54" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="54" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1888ad53b9d91922352a6bdf3ebad4689" prot="public" static="no">
+        <name>Kpib</name>
+        <initializer>0.005</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="57" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="57" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_14618d4111741ecefab35033bb5ec8c1e" prot="public" static="no">
+        <name>Tiib</name>
+        <initializer>0.01</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="58" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_13ff06226678121801490aab7ba20949a" prot="public" static="no">
+        <name>MAXbeta</name>
+        <initializer>(40./180.*M_PI)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="59" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="59" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1581d68cbb3bc6ff96a601cf1e6dcaa3a" prot="public" static="no">
+        <name>Kpidb</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_18274c24cd06df0ccf65686b566112c83" prot="public" static="no">
+        <name>Tiidb</name>
+        <initializer>0.1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="63" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="63" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2nastaveni__regulatoru__float_8h_1af1f7776726b809376f5dd92a109f897" prot="public" static="no">
+        <name>MAXud</name>
+        <initializer>50.</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" line="64" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="64" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/***********************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Nastaveni<sp/>regulatoru<sp/>vektoroveho<sp/>rizeni</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Konstanty<sp/>a<sp/>omezovace</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>31.5.2007</highlight></codeline>
+<codeline lineno="10"><highlight class="comment">***********************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="comment">//<sp/>maximalni<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Ismax<sp/><sp/><sp/>40.0<sp/><sp/><sp/><sp/>//<sp/>max.<sp/>proud<sp/>motoru</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulatory<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpi<sp/><sp/><sp/><sp/><sp/>20.<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Kp*Iref/Uref</highlight></codeline>
+<codeline lineno="17"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tii<sp/><sp/><sp/><sp/><sp/>0.005<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>casova<sp/>konstanta<sp/>reg.<sp/>...<sp/>Kp*Iref/Uref*TV/Ti</highlight></codeline>
+<codeline lineno="18"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXi<sp/><sp/><sp/><sp/>1199.0</highlight></codeline>
+<codeline lineno="19"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kpi<sp/><sp/><sp/>15</highlight></codeline>
+<codeline lineno="20"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kii<sp/><sp/><sp/>15</highlight></codeline>
+<codeline lineno="21"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>odbuzovani<sp/>-<sp/>RUrm<sp/><sp/>Kp=15,<sp/>Ti=0.5</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpurm<sp/><sp/><sp/>50.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>2.0/Iref<sp/>ev.<sp/>sqrt(3)/Iref<sp/>pro<sp/>PWM<sp/>se<sp/>3.<sp/>harmonickou</highlight></codeline>
+<codeline lineno="24"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiurm<sp/><sp/><sp/>0.05<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>31.5.2007:<sp/>puvodne<sp/>0.01</highlight></codeline>
+<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MINurm<sp/><sp/>(-0.95*Ismax)<sp/><sp/><sp/>//<sp/><sp/>0.95<sp/>...<sp/>aby<sp/>i<sp/>p�/>reakci<sp/>reg.<sp/>Urm<sp/>byl<sp/>motor<sp/>schopen<sp/>produkovat<sp/>moment</highlight></codeline>
+<codeline lineno="26"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tfurm<sp/><sp/><sp/>0.01<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>casova<sp/>konstanta<sp/>filtru<sp/>Urm</highlight></codeline>
+<codeline lineno="27"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kpurm<sp/>12</highlight></codeline>
+<codeline lineno="28"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kiurm<sp/>15</highlight></codeline>
+<codeline lineno="29"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kturm<sp/>15<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>TV/Tf<sp/><sp/>...<sp/>nechat<sp/>Q15!!!!</highlight></codeline>
+<codeline lineno="30"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>blok<sp/>&quot;Vypocet<sp/>napeti&quot;<sp/>-<sp/>&quot;odvazbovaci<sp/>blok&quot;<sp/>...<sp/>definice<sp/>systemu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Q_Kodv_ud<sp/><sp/><sp/><sp/><sp/><sp/><sp/>15<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Wref*Iref/Uref*Ls</highlight></codeline>
+<codeline lineno="33"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpw<sp/><sp/><sp/><sp/><sp/>3.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Kpw*Wref/Iref</highlight></codeline>
+<codeline lineno="36"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiw<sp/><sp/><sp/><sp/><sp/>0.1</highlight></codeline>
+<codeline lineno="37"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXw<sp/><sp/><sp/><sp/>Ismax</highlight></codeline>
+<codeline lineno="38"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kpw<sp/><sp/><sp/>7</highlight></codeline>
+<codeline lineno="39"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kiw<sp/><sp/><sp/>15</highlight></codeline>
+<codeline lineno="40"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="comment">//<sp/>model<sp/>motoru<sp/>pro<sp/>vypocet<sp/>toku<sp/>a<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Q_K_Fs<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>15<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>max.<sp/>Q15<sp/>...<sp/>Ls*Iref/Fref</highlight></codeline>
+<codeline lineno="43"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_K_moment<sp/><sp/><sp/><sp/><sp/><sp/>12<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>max.<sp/>Q15<sp/>...<sp/>kp*p*Fref*Iref/Mref</highlight></codeline>
+<codeline lineno="44"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="comment">//<sp/>filtrace<sp/>napeti<sp/>v<sp/>ss<sp/>obvodu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Tfuc<sp/><sp/><sp/><sp/>0.1</highlight></codeline>
+<codeline lineno="48"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="comment">//<sp/>filtrace<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Tfid<sp/><sp/><sp/><sp/>0.1</highlight></codeline>
+<codeline lineno="51"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prechod<sp/>mezi<sp/>algoritmy<sp/>regulace<sp/>VARIANTA<sp/>1<sp/>a<sp/>VARIANTA<sp/>2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>prechod_1_2<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(2.*M_PI*75.)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>55Hz<sp/>...<sp/>wme<sp/>[rad/s]</highlight></codeline>
+<codeline lineno="54"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>prechod_2_1<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(2.*M_PI*70.)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>50Hz<sp/>...<sp/>wme<sp/>[rad/s]</highlight></codeline>
+<codeline lineno="55"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isq<sp/>prostednictvim<sp/>beta<sp/>-<sp/>algoritmus<sp/>VARIANTA<sp/>2:<sp/>Karel<sp/>(Kp=0.0002,<sp/>Ti=0.001s)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpib<sp/><sp/><sp/><sp/>0.005</highlight></codeline>
+<codeline lineno="58"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiib<sp/><sp/><sp/><sp/>0.01<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="59"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXbeta<sp/>(40./180.*M_PI)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>zatezny<sp/>uhel<sp/>omezen<sp/>na<sp/>+/-<sp/>40st.</highlight></codeline>
+<codeline lineno="60"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isd<sp/>-<sp/>VAR2<sp/>-<sp/>kompenzace<sp/>vypocteneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpidb<sp/><sp/><sp/>0</highlight></codeline>
+<codeline lineno="63"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiidb<sp/><sp/><sp/>0.1</highlight></codeline>
+<codeline lineno="64"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXud<sp/><sp/><sp/>50.</highlight></codeline>
+<codeline lineno="65"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MINud<sp/><sp/><sp/>(-600.)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>principialne<sp/>neni<sp/>nutne<sp/>omezovat,<sp/>avsak<sp/>s<sp/>ohledem<sp/>na<sp/>format<sp/>Q13<sp/>s<sp/>dostatecnou<sp/>bezpecnosti<sp/>uvazovano<sp/>600V</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classenorm.xml
===================================================================
--- /doc/xml/classenorm.xml (revision 187)
+++ /doc/xml/classenorm.xml (revision 187)
@@ -0,0 +1,488 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classenorm" kind="class" prot="public">
+    <compoundname>enorm</compoundname>
+    <basecompoundref refid="classeEF" prot="public" virt="non-virtual">eEF</basecompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+    <templateparamlist>
+      <param>
+        <type>class</type>
+        <declname>sq_T</declname>
+        <defname>sq_T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classenorm_171fde0d54bba147e00f612577f95ad20" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec enorm&lt; sq_T &gt;::mu</definition>
+        <argsstring></argsstring>
+        <name>mu</name>
+        <briefdescription>
+<para>mean value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="74" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="74" bodyend="-1"/>
+        <referencedby refid="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" compoundref="libEF_8h" startline="100" endline="100">enorm&lt; fsqmat &gt;::_mu</referencedby>
+        <referencedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</referencedby>
+        <referencedby refid="classenorm_150fa84da7bae02f7af17a98f37566899" compoundref="libEF_8h" startline="96" endline="96">enorm&lt; fsqmat &gt;::mean</referencedby>
+        <referencedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" compoundref="libEF_8h" startline="365" endline="372">enorm&lt; sq_T &gt;::sample</referencedby>
+        <referencedby refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" compoundref="libEF_8h" startline="103" endline="103">enorm&lt; fsqmat &gt;::set_mu</referencedby>
+        <referencedby refid="classenorm_11394a65caa6e00d42e00cc99b12227af" compoundref="libEF_8h" startline="348" endline="352">enorm&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" prot="protected" static="no" mutable="no">
+        <type>sq_T</type>
+        <definition>sq_T enorm&lt; sq_T &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Covariance matrix in decomposed form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="76" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="76" bodyend="-1"/>
+        <referencedby refid="classenorm_17a5034b25771a84450a990d10fc40ac9" compoundref="libEF_8h" startline="106" endline="106">enorm&lt; fsqmat &gt;::_R</referencedby>
+        <referencedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</referencedby>
+        <referencedby refid="classenorm_19b9f58dc86affa23511c246887420658" compoundref="libEF_8h" startline="109" endline="109">enorm&lt; fsqmat &gt;::getR</referencedby>
+        <referencedby refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" compoundref="libEF_8h" startline="406" endline="409">enorm&lt; sq_T &gt;::lognc</referencedby>
+        <referencedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" compoundref="libEF_8h" startline="365" endline="372">enorm&lt; sq_T &gt;::sample</referencedby>
+        <referencedby refid="classenorm_11394a65caa6e00d42e00cc99b12227af" compoundref="libEF_8h" startline="348" endline="352">enorm&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int enorm&lt; sq_T &gt;::dim</definition>
+        <argsstring></argsstring>
+        <name>dim</name>
+        <briefdescription>
+<para>dimension (redundant from rv.count() for easier coding ) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="78" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="78" bodyend="-1"/>
+        <referencedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" compoundref="libEF_8h" startline="365" endline="372">enorm&lt; sq_T &gt;::sample</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classenorm_17b5cb487a2570e8109bfdc0df149aa06" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>enorm&lt; sq_T &gt;::enorm</definition>
+        <argsstring>(RV &amp;rv)</argsstring>
+        <name>enorm</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="82" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="345" bodyend="345"/>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_11394a65caa6e00d42e00cc99b12227af" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void enorm&lt; sq_T &gt;::set_parameters</definition>
+        <argsstring>(const vec &amp;mu, const sq_T &amp;R)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu</declname>
+        </param>
+        <param>
+          <type>const sq_T &amp;</type>
+          <declname>R</declname>
+        </param>
+        <briefdescription>
+<para>Set mean value <computeroutput>mu</computeroutput> and covariance <computeroutput>R</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="84" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="348" bodyend="352"/>
+        <references refid="classenorm_171fde0d54bba147e00f612577f95ad20" compoundref="libEF_8h" startline="74">enorm&lt; sq_T &gt;::mu</references>
+        <references refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" compoundref="libEF_8h" startline="76">enorm&lt; sq_T &gt;::R</references>
+        <referencedby refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" compoundref="libKF_8h" startline="144" endline="146">KalmanCh::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_15b5fd142b6b17ea334597960e3fe126a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void enorm&lt; sq_T &gt;::tupdate</definition>
+        <argsstring>(double phi, mat &amp;vbar, double nubar)</argsstring>
+        <name>tupdate</name>
+        <reimplements refid="classeEF_1fd88bc35550ec8fe9281d358216d0fcf">tupdate</reimplements>
+        <param>
+          <type>double</type>
+          <declname>phi</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>vbar</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nubar</declname>
+        </param>
+        <briefdescription>
+<para>tupdate in exponential form (not really handy) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="86" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="360" bodyend="362"/>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_15bf185e31e5954fceb90ada3debd2ff2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void enorm&lt; sq_T &gt;::dupdate</definition>
+        <argsstring>(mat &amp;v, double nu=1.0)</argsstring>
+        <name>dupdate</name>
+        <reimplements refid="classeEF_15863718c3b2fb1496dece10c5b745d5c">dupdate</reimplements>
+        <param>
+          <type>mat &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nu</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>dupdate in exponential form (not really handy) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="88" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="355" bodyend="357"/>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_160b47544f6181ffd4530d3e415ce12c5" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec enorm&lt; sq_T &gt;::sample</definition>
+        <argsstring>() const </argsstring>
+        <name>sample</name>
+        <reimplements refid="classepdf_18019654e494bf5e458f6fb947e11b262">sample</reimplements>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="365" bodyend="372"/>
+        <references refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" compoundref="libEF_8h" startline="78">enorm&lt; sq_T &gt;::dim</references>
+        <references refid="classenorm_171fde0d54bba147e00f612577f95ad20" compoundref="libEF_8h" startline="74">enorm&lt; sq_T &gt;::mu</references>
+        <references refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" compoundref="libEF_8h" startline="76">enorm&lt; sq_T &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_160f0f3bfa53d6e65843eea9532b16d36" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat</type>
+        <definition>mat enorm&lt; sq_T &gt;::sample</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sample</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>TODO is it used? </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="375" bodyend="389"/>
+        <references refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" compoundref="libEF_8h" startline="78">enorm&lt; sq_T &gt;::dim</references>
+        <references refid="classenorm_171fde0d54bba147e00f612577f95ad20" compoundref="libEF_8h" startline="74">enorm&lt; sq_T &gt;::mu</references>
+        <references refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" compoundref="libEF_8h" startline="76">enorm&lt; sq_T &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double enorm&lt; sq_T &gt;::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplements refid="classepdf_13ea597362e11a0040fe7c990269d072c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="392" bodyend="397"/>
+        <references refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</references>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double enorm&lt; sq_T &gt;::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <reimplements refid="classepdf_16aef3eca74899692503769c18add1a4c">evalpdflog</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute log-probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="94" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="400" bodyend="403"/>
+        <references refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" compoundref="libEF_8h" startline="406" endline="409">enorm&lt; sq_T &gt;::lognc</references>
+        <references refid="classenorm_171fde0d54bba147e00f612577f95ad20" compoundref="libEF_8h" startline="74">enorm&lt; sq_T &gt;::mu</references>
+        <references refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" compoundref="libEF_8h" startline="76">enorm&lt; sq_T &gt;::R</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0" compoundref="libEF_8h" startline="392" endline="397">enorm&lt; sq_T &gt;::eval</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double enorm&lt; sq_T &gt;::lognc</definition>
+        <argsstring>() const </argsstring>
+        <name>lognc</name>
+        <reimplements refid="classeEF_169e5680dac10375d62520d26c672477d">lognc</reimplements>
+        <briefdescription>
+<para>logarithm of the normalizing constant, <formula id="60">$\mathcal{I}$</formula> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="406" bodyend="409"/>
+        <references refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" compoundref="libEF_8h" startline="76">enorm&lt; sq_T &gt;::R</references>
+        <referencedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_150fa84da7bae02f7af17a98f37566899" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec enorm&lt; sq_T &gt;::mean</definition>
+        <argsstring>() const </argsstring>
+        <name>mean</name>
+        <reimplements refid="classepdf_1bf0a070a8f3e67a93604ca724638b870">mean</reimplements>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="96" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="96" bodyend="96"/>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec &amp;</type>
+        <definition>vec&amp; enorm&lt; sq_T &gt;::_mu</definition>
+        <argsstring>()</argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>returns a pointer to the internal mean value. Use with Care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="100" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="100" bodyend="100"/>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_1d892a38f03be12e572ea57d9689cef6b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void enorm&lt; sq_T &gt;::set_mu</definition>
+        <argsstring>(const vec mu0)</argsstring>
+        <name>set_mu</name>
+        <param>
+          <type>const vec</type>
+          <declname>mu0</declname>
+        </param>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="103" bodyend="103"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_17a5034b25771a84450a990d10fc40ac9" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>sq_T &amp;</type>
+        <definition>sq_T&amp; enorm&lt; sq_T &gt;::_R</definition>
+        <argsstring>()</argsstring>
+        <name>_R</name>
+        <briefdescription>
+<para>returns pointers to the internal variance and its inverse. Use with Care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="106" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="106" bodyend="106"/>
+      </memberdef>
+      <memberdef kind="function" id="classenorm_19b9f58dc86affa23511c246887420658" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat</type>
+        <definition>mat enorm&lt; sq_T &gt;::getR</definition>
+        <argsstring>()</argsstring>
+        <name>getR</name>
+        <briefdescription>
+<para>access method </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="109" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="109" bodyend="109"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Gaussian density with positive definite (decomposed) covariance matrix. </para>    </briefdescription>
+    <detaileddescription>
+<para>More?... </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1000">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1001" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1002">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="1005">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1000" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1004">
+        <label>enorm&lt; chmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1000" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1003">
+        <label>enorm&lt; ldmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1000" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1001">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1002" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1006">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1007" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1010" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="1010">
+        <label>sq_T</label>
+      </node>
+      <node id="1008">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1009" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1009">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1007">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1008" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="71" bodyend="110"/>
+    <listofallmembers>
+      <member refid="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" prot="public" virt="non-virtual"><scope>enorm</scope><name>_mu</name></member>
+      <member refid="classenorm_17a5034b25771a84450a990d10fc40ac9" prot="public" virt="non-virtual"><scope>enorm</scope><name>_R</name></member>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>enorm</scope><name>_rv</name></member>
+      <member refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" prot="protected" virt="non-virtual"><scope>enorm</scope><name>dim</name></member>
+      <member refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2" prot="public" virt="virtual"><scope>enorm</scope><name>dupdate</name></member>
+      <member refid="classeEF_17e3c63655e8375c76bf1f421245427a7" prot="public" virt="non-virtual"><scope>enorm</scope><name>eEF</name></member>
+      <member refid="classenorm_17b5cb487a2570e8109bfdc0df149aa06" prot="public" virt="non-virtual"><scope>enorm</scope><name>enorm</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>enorm</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>enorm</scope><name>epdf</name></member>
+      <member refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0" prot="public" virt="virtual"><scope>enorm</scope><name>eval</name></member>
+      <member refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" prot="public" virt="virtual"><scope>enorm</scope><name>evalpdflog</name></member>
+      <member refid="classenorm_19b9f58dc86affa23511c246887420658" prot="public" virt="non-virtual"><scope>enorm</scope><name>getR</name></member>
+      <member refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" prot="public" virt="virtual"><scope>enorm</scope><name>lognc</name></member>
+      <member refid="classenorm_150fa84da7bae02f7af17a98f37566899" prot="public" virt="virtual"><scope>enorm</scope><name>mean</name></member>
+      <member refid="classenorm_171fde0d54bba147e00f612577f95ad20" prot="protected" virt="non-virtual"><scope>enorm</scope><name>mu</name></member>
+      <member refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" prot="protected" virt="non-virtual"><scope>enorm</scope><name>R</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>enorm</scope><name>rv</name></member>
+      <member refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" prot="public" virt="virtual"><scope>enorm</scope><name>sample</name></member>
+      <member refid="classenorm_160f0f3bfa53d6e65843eea9532b16d36" prot="public" virt="non-virtual"><scope>enorm</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>enorm</scope><name>sampleN</name></member>
+      <member refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" prot="public" virt="non-virtual"><scope>enorm</scope><name>set_mu</name></member>
+      <member refid="classenorm_11394a65caa6e00d42e00cc99b12227af" prot="public" virt="non-virtual"><scope>enorm</scope><name>set_parameters</name></member>
+      <member refid="classenorm_15b5fd142b6b17ea334597960e3fe126a" prot="public" virt="virtual"><scope>enorm</scope><name>tupdate</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>enorm</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/Kalman_8m.xml
===================================================================
--- /doc/xml/Kalman_8m.xml (revision 187)
+++ /doc/xml/Kalman_8m.xml (revision 187)
@@ -0,0 +1,161 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="Kalman_8m" kind="file">
+    <compoundname>Kalman.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="Kalman_8m_1a2d0bade8b7ef0b56beda27488ea708d" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>function[xt, Rx, ll]</definition>
+        <argsstring>[xt, Rx, ll]</argsstring>
+        <name>function</name>
+        <initializer><ref refid="classKalman" kindref="compound">Kalman</ref>(xt,yt,A,C,Rw,Rv,Rx)
+% yp=C*xt</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="2" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="1" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_188c32bd7de17dde57a9a412b9a000e11" prot="public" static="no" mutable="no">
+        <type>predikovan v stupy</type>
+        <definition>Ry</definition>
+        <argsstring></argsstring>
+        <name>Ry</name>
+        <initializer>Rv+C*Rx*C&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="3" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="3" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_17385c34888ce96c459b2ab999e756e9b" prot="public" static="no" mutable="no">
+        <type>kovariance inovace</type>
+        <definition>asov updt stavu Rx</definition>
+        <argsstring></argsstring>
+        <name>Rx</name>
+        <initializer>Rx-Rx*C&apos;*inv(Ry)*C*Rx</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="4" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="4" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_1109d43e4753ed77f192edf5a278d31e8" prot="public" static="no" mutable="no">
+        <type>datov updt kov stavu</type>
+        <definition>datov updt kov stavu ey</definition>
+        <argsstring></argsstring>
+        <name>ey</name>
+        <initializer>yt-yp</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="5" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="5" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_17ef544e75392f3a67bfc3e470f4ff3a4" prot="public" static="no" mutable="no">
+        <type>inovace</type>
+        <definition>inovace KG</definition>
+        <argsstring></argsstring>
+        <name>KG</name>
+        <initializer>Rx*C&apos;*inv(Rv)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="7" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="7" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_1e99e8f063b011dafba65cd94236b07b9" prot="public" static="no" mutable="no">
+        <type><ref refid="classKalman" kindref="compound">Kalman</ref> v gain</type>
+        <definition>xt</definition>
+        <argsstring></argsstring>
+        <name>xt</name>
+        <initializer>xt+KG*ey</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="8" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="8" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_1d228be362b719d6a232f91c2998779fa" prot="public" static="no" mutable="no">
+        <type>datov updt stavu</type>
+        <definition>datov updt stavu yp</definition>
+        <argsstring></argsstring>
+        <name>yp</name>
+        <initializer>yt-C*xt</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="9" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="9" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_116e4ef534cec559430e07e05eb71c719" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>K</definition>
+        <argsstring></argsstring>
+        <name>K</name>
+        <initializer>Rx*C&apos;*inv(Ry)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="11" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="Kalman_8m_1d5583c89e1658b14ba2a7dccd35666f7" prot="public" static="no" mutable="no">
+        <type>asov updt kov stavu</type>
+        <definition>asov updt kov stavu ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <initializer>-1/2*log(det(Ry))-1/2*yp&apos;*inv(Ry)*yp</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/Kalman.m" line="18" bodyfile="/home/smidl/work/mixpp/matlab/Kalman.m" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">function<sp/>[xt,Rx,ll]=<ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>(xt,yt,A,C,Rw,Rv,Rx)</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">%<sp/>yp=C*xt;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>predikovan�<sp/>v�stupy</highlight></codeline>
+<codeline lineno="3"><highlight class="normal">%<sp/>Ry=Rv+C*Rx*C&apos;;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>kovariance<sp/>inovace</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">%<sp/>Rx=Rx-Rx*C&apos;*inv(Ry)*C*Rx;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>datov�<sp/>updt<sp/>kov.<sp/>stavu</highlight></codeline>
+<codeline lineno="5"><highlight class="normal">%<sp/>ey=yt-yp;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>inovace<sp/></highlight></codeline>
+<codeline lineno="6"><highlight class="normal">%<sp/></highlight></codeline>
+<codeline lineno="7"><highlight class="normal">%<sp/>KG=Rx*C</highlight><highlight class="stringliteral">&apos;*inv(Rv);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Kalman�v<sp/>gain</highlight></codeline>
+<codeline lineno="8"><highlight class="stringliteral">%<sp/>xt=xt+KG*ey;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>datov�<sp/>updt<sp/>stavu</highlight></codeline>
+<codeline lineno="9"><highlight class="stringliteral">yp=yt-C*xt;</highlight></codeline>
+<codeline lineno="10"><highlight class="stringliteral">Ry=C*Rx*C&apos;</highlight><highlight class="normal">+Rv;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">K=Rx*C</highlight><highlight class="stringliteral">&apos;*inv(Ry);</highlight></codeline>
+<codeline lineno="12"><highlight class="stringliteral">xt=xt+K*yp;</highlight></codeline>
+<codeline lineno="13"><highlight class="stringliteral">Rx=(eye(length(C))-K*C)*Rx;</highlight></codeline>
+<codeline lineno="14"><highlight class="stringliteral"></highlight></codeline>
+<codeline lineno="15"><highlight class="stringliteral">xt=A*xt;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>�asov�<sp/>updt<sp/>stavu</highlight></codeline>
+<codeline lineno="16"><highlight class="stringliteral">Rx=Rw+A*Rx*A&apos;</highlight><highlight class="normal">;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>�asov�<sp/>updt<sp/>kov.<sp/>stavu</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal">ll=-1/2*log(det(Ry))-1/2*yp&apos;*inv(Ry)*yp;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal">%keyboard</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/matlab/Kalman.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classMPF_1_1mpfepdf.xml
===================================================================
--- /doc/xml/classMPF_1_1mpfepdf.xml (revision 187)
+++ /doc/xml/classMPF_1_1mpfepdf.xml (revision 187)
@@ -0,0 +1,280 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classMPF_1_1mpfepdf" kind="class" prot="private">
+    <compoundname>MPF::mpfepdf</compoundname>
+    <basecompoundref refid="classepdf" prot="public" virt="non-virtual">epdf</basecompoundref>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classMPF_1_1mpfepdf_17e4e8c47a120b209f9df7e2794125a54" prot="protected" static="no" mutable="no">
+        <type><ref refid="classeEmp" kindref="compound">eEmp</ref> &amp;</type>
+        <definition>eEmp&amp; MPF&lt; BM_T &gt;::mpfepdf::E</definition>
+        <argsstring></argsstring>
+        <name>E</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="71" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classMPF_1_1mpfepdf_17dcba8272de2abb425928fdd464d3b60" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; MPF&lt; BM_T &gt;::mpfepdf::_w</definition>
+        <argsstring></argsstring>
+        <name>_w</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="72" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="72" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classMPF_1_1mpfepdf_11ab1cb524645e2c597b9202a28c0e960" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classepdf" kindref="compound">epdf</ref> * &gt;</type>
+        <definition>Array&lt;epdf*&gt; MPF&lt; BM_T &gt;::mpfepdf::Coms</definition>
+        <argsstring></argsstring>
+        <name>Coms</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="73" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classMPF_1_1mpfepdf_1eb8991186dfaf5ff1a872a298e8f90aa" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>MPF&lt; BM_T &gt;::mpfepdf::mpfepdf</definition>
+        <argsstring>(eEmp &amp;E0, const RV &amp;rvc)</argsstring>
+        <name>mpfepdf</name>
+        <param>
+          <type><ref refid="classeEmp" kindref="compound">eEmp</ref> &amp;</type>
+          <declname>E0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvc</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="75" bodyend="80"/>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_1_1mpfepdf_128d838ad40243b6a14bf87796891f4ff" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void MPF&lt; BM_T &gt;::mpfepdf::set_elements</definition>
+        <argsstring>(int &amp;i, double wi, epdf *ep)</argsstring>
+        <name>set_elements</name>
+        <param>
+          <type>int &amp;</type>
+          <declname>i</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>wi</declname>
+        </param>
+        <param>
+          <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+          <declname>ep</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="82" bodyend="83"/>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_1_1mpfepdf_1cfd26db390c93dd17cfd2a1d926695ee" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec MPF&lt; BM_T &gt;::mpfepdf::mean</definition>
+        <argsstring>() const </argsstring>
+        <name>mean</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="85" bodyend="92"/>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_1_1mpfepdf_1b6dbbd53672c08667047d178e1a5420f" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec MPF&lt; BM_T &gt;::mpfepdf::sample</definition>
+        <argsstring>() const </argsstring>
+        <name>sample</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="94" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="94" bodyend="94"/>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_1_1mpfepdf_1b9400379c3588f1805a1bd484b9e0de8" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double MPF&lt; BM_T &gt;::mpfepdf::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="96" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="96" bodyend="96"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="153" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="153" bodyend="153"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>internal class for MPDF providing composition of <ref refid="classeEmp" kindref="compound">eEmp</ref> with external components </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1258">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="1257">
+        <label>MPF&lt; BM_T &gt;::mpfepdf</label>
+        <childnode refid="1258" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1260">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1261" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1262">
+        <label>eEmp</label>
+        <link refid="classeEmp"/>
+        <childnode refid="1260" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1261">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1259">
+        <label>MPF&lt; BM_T &gt;::mpfepdf</label>
+        <childnode refid="1260" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1262" relation="usage">
+          <edgelabel>E</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="69" bodyend="97"/>
+    <listofallmembers>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>_rv</name></member>
+      <member refid="classMPF_1_1mpfepdf_17dcba8272de2abb425928fdd464d3b60" prot="protected" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>_w</name></member>
+      <member refid="classMPF_1_1mpfepdf_11ab1cb524645e2c597b9202a28c0e960" prot="protected" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>Coms</name></member>
+      <member refid="classMPF_1_1mpfepdf_17e4e8c47a120b209f9df7e2794125a54" prot="protected" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>E</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>epdf</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>MPF::mpfepdf</scope><name>eval</name></member>
+      <member refid="classMPF_1_1mpfepdf_1b9400379c3588f1805a1bd484b9e0de8" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>evalpdflog</name></member>
+      <member refid="classMPF_1_1mpfepdf_1cfd26db390c93dd17cfd2a1d926695ee" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>mean</name></member>
+      <member refid="classMPF_1_1mpfepdf_1eb8991186dfaf5ff1a872a298e8f90aa" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>mpfepdf</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>rv</name></member>
+      <member refid="classMPF_1_1mpfepdf_1b6dbbd53672c08667047d178e1a5420f" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>MPF::mpfepdf</scope><name>sampleN</name></member>
+      <member refid="classMPF_1_1mpfepdf_128d838ad40243b6a14bf87796891f4ff" prot="public" virt="non-virtual"><scope>MPF::mpfepdf</scope><name>set_elements</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>MPF::mpfepdf</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classsqmat.xml
===================================================================
--- /doc/xml/classsqmat.xml (revision 187)
+++ /doc/xml/classsqmat.xml (revision 187)
@@ -0,0 +1,346 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classsqmat" kind="class" prot="public">
+    <compoundname>sqmat</compoundname>
+    <derivedcompoundref refid="classchmat" prot="public" virt="non-virtual">chmat</derivedcompoundref>
+    <derivedcompoundref refid="classfsqmat" prot="public" virt="non-virtual">fsqmat</derivedcompoundref>
+    <derivedcompoundref refid="classldmat" prot="private" virt="non-virtual">ldmat</derivedcompoundref>
+    <includes refid="libDC_8h" local="no">libDC.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classsqmat_10abed904bdc0882373ba9adba919689d" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int sqmat::dim</definition>
+        <argsstring></argsstring>
+        <name>dim</name>
+        <briefdescription>
+<para>dimension of the square matrix </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" compoundref="libDC_8cpp" startline="104" endline="114">ldmat::add</referencedby>
+        <referencedby refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" compoundref="libDC_8h" startline="277" endline="277">ldmat::cols</referencedby>
+        <referencedby refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" compoundref="libDC_8h" startline="91" endline="91">cols</referencedby>
+        <referencedby refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldmat::ldform</referencedby>
+        <referencedby refid="classldmat_1abe16e0f86668ef61a9a4896c8565dee" compoundref="libDC_8cpp" startline="41" endline="44">ldmat::ldmat</referencedby>
+        <referencedby refid="libDC_8h_16715d039e6d5d97005cf9e2522dfa474" compoundref="libDC_8cpp" startline="301" endline="320">ltuinv</referencedby>
+        <referencedby refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">ldmat::opupdt</referencedby>
+        <referencedby refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" compoundref="libDC_8h" startline="279" endline="279">ldmat::rows</referencedby>
+        <referencedby refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" compoundref="libDC_8h" startline="94" endline="94">rows</referencedby>
+        <referencedby refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" compoundref="libDC_8cpp" startline="189" endline="201">ldmat::sqrt_mult</referencedby>
+        <referencedby refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" compoundref="libDC_8cpp" startline="80" endline="101">ldmat::to_mat</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classsqmat_1b223484796661f2dadb5607a86ce0581" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void sqmat::opupdt</definition>
+        <argsstring>(const vec &amp;v, double w)=0</argsstring>
+        <name>opupdt</name>
+        <reimplementedby refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a">opupdt</reimplementedby>
+        <reimplementedby refid="classfsqmat_1b36530e155667fe9f1bd58394e50c65a">opupdt</reimplementedby>
+        <reimplementedby refid="classchmat_1bbc2d98d7455b1f38828907d442836bf">opupdt</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>w</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>Perfroms a rank-1 update by outer product of vectors: <formula id="23">$V = V + w v v&apos;$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>v</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>Vector forming the outer product to be added </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>w</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>weight of updating; can be negative</para></parameterdescription>
+</parameteritem>
+</parameterlist>
+BLAS-2b operation. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="41"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_19a5b6fddfeb42339e1dc9b978a2590fc" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>mat</type>
+        <definition>virtual mat sqmat::to_mat</definition>
+        <argsstring>()=0</argsstring>
+        <name>to_mat</name>
+        <reimplementedby refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e">to_mat</reimplementedby>
+        <reimplementedby refid="classfsqmat_1cedf4f048309056f4262c930914dfda8">to_mat</reimplementedby>
+        <reimplementedby refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452">to_mat</reimplementedby>
+        <briefdescription>
+<para>Conversion to full matrix. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="46"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_160fbbfa9e483b8187c135f787ee53afa" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void sqmat::mult_sym</definition>
+        <argsstring>(const mat &amp;C)=0</argsstring>
+        <name>mult_sym</name>
+        <reimplementedby refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8">mult_sym</reimplementedby>
+        <reimplementedby refid="classfsqmat_15530d2756b5d991de755e6121c9a452e">mult_sym</reimplementedby>
+        <reimplementedby refid="classchmat_166f509f92b0ccf020e2a2a32566e0777">mult_sym</reimplementedby>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE matrix <formula id="24">$C$</formula>, i.e. <formula id="25">$V = C*V*C&apos;$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="51"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_16909e906da17725b1b80f3cae7cf3325" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void sqmat::mult_sym_t</definition>
+        <argsstring>(const mat &amp;C)=0</argsstring>
+        <name>mult_sym_t</name>
+        <reimplementedby refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9">mult_sym_t</reimplementedby>
+        <reimplementedby refid="classfsqmat_192052a8adc2054b63e42d1373d145c89">mult_sym_t</reimplementedby>
+        <reimplementedby refid="classchmat_107f50d1332b901eee962e8b1913102f7">mult_sym_t</reimplementedby>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE transpose of matrix <formula id="24">$C$</formula>, i.e. <formula id="26">$V = C&apos;*V*C$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="56"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_10a772b396750eeeed85d69fa72478b45" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>double</type>
+        <definition>virtual double sqmat::logdet</definition>
+        <argsstring>() const =0</argsstring>
+        <name>logdet</name>
+        <reimplementedby refid="classldmat_12b42750ba4962d439aa52a77ae12949b">logdet</reimplementedby>
+        <reimplementedby refid="classfsqmat_1eb0d1358f536e4453b5f99d0418ca1e5">logdet</reimplementedby>
+        <reimplementedby refid="classchmat_1b504ca818203b13e667cb3c503980382">logdet</reimplementedby>
+        <briefdescription>
+<para>Logarithm of a determinant. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="63"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_16b79438b5d7544a9c8e110a145355d8f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>vec</type>
+        <definition>virtual vec sqmat::sqrt_mult</definition>
+        <argsstring>(const vec &amp;v) const =0</argsstring>
+        <name>sqrt_mult</name>
+        <reimplementedby refid="classldmat_1fc380626ced6f9244fb58c5f0231174d">sqrt_mult</reimplementedby>
+        <reimplementedby refid="classfsqmat_1842a774077ee34ac3c36d180ab33e103">sqrt_mult</reimplementedby>
+        <reimplementedby refid="classchmat_1b22aa239dbaca33e3fb93b4f674d7051">sqrt_mult</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Multiplies square root of <formula id="27">$V$</formula> by vector <formula id="28">$x$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Used e.g. in generating normal samples. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="70"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_1fc026312eb02ba09f85d5aacd6f05ab3" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>double</type>
+        <definition>virtual double sqmat::qform</definition>
+        <argsstring>(const vec &amp;v) const =0</argsstring>
+        <name>qform</name>
+        <reimplementedby refid="classldmat_1d64f331b781903e913cb2ee836886f3f">qform</reimplementedby>
+        <reimplementedby refid="classfsqmat_1a6c91b0389e73404324b2314b08d6e87">qform</reimplementedby>
+        <reimplementedby refid="classchmat_16807737c7ffdb7041256b51db7592248">qform</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="29">$x= v&apos;*V*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="76"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_16230e8e8a9341866aaa0ce008691aac2" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>double</type>
+        <definition>virtual double sqmat::invqform</definition>
+        <argsstring>(const vec &amp;v) const =0</argsstring>
+        <name>invqform</name>
+        <reimplementedby refid="classldmat_1d876c5f83e02b3e809b35c9de5068f14">invqform</reimplementedby>
+        <reimplementedby refid="classfsqmat_158075da64ddadd4df40654c35b928c6f">invqform</reimplementedby>
+        <reimplementedby refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4">invqform</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="30">$x= v&apos;*inv(V)*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="82"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_16fca246f9eabbdeb8cac03030e826b5e" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void sqmat::clear</definition>
+        <argsstring>()=0</argsstring>
+        <name>clear</name>
+        <reimplementedby refid="classldmat_14d6e401de9607332305c27e67972a07a">clear</reimplementedby>
+        <reimplementedby refid="classfsqmat_1cfa4c359483d2322f32d1d50050f8ac4">clear</reimplementedby>
+        <reimplementedby refid="classchmat_1d0a995d312ecc11d3b43693f5e224ba9">clear</reimplementedby>
+        <briefdescription>
+<para>Clearing matrix so that it corresponds to zeros. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="88"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_1ecc2e2540f95a04f4449842588170f5b" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int sqmat::cols</definition>
+        <argsstring>() const </argsstring>
+        <name>cols</name>
+        <reimplementedby refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306">cols</reimplementedby>
+        <briefdescription>
+<para>Reimplementing common functions of mat: <ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member">cols()</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="91" bodyend="91"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">dim</references>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int sqmat::rows</definition>
+        <argsstring>() const </argsstring>
+        <name>rows</name>
+        <reimplementedby refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163">rows</reimplementedby>
+        <briefdescription>
+<para>Reimplementing common functions of mat: <ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member">cols()</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="94" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="94" bodyend="94"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">dim</references>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_10481f2067bb32aaea7e6d4f27e46b656" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual sqmat::~sqmat</definition>
+        <argsstring>()</argsstring>
+        <name>~sqmat</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="97" bodyend="97"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_14268750c040c716b2c05037f725078a2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>sqmat::sqmat</definition>
+        <argsstring>(const int dim0)</argsstring>
+        <name>sqmat</name>
+        <param>
+          <type>const int</type>
+          <declname>dim0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="99" bodyend="99"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Virtual class for representation of double symmetric matrices in square-root form. </para>    </briefdescription>
+    <detaileddescription>
+<para>All operations defined on this class should be optimized for the chosen decomposition. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1293">
+        <label>ldmat</label>
+        <link refid="classldmat"/>
+        <childnode refid="1290" relation="private-inheritance">
+        </childnode>
+      </node>
+      <node id="1292">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="1290" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1290">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="1291">
+        <label>chmat</label>
+        <link refid="classchmat"/>
+        <childnode refid="1290" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="32" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="31" bodyend="103"/>
+    <listofallmembers>
+      <member refid="classsqmat_16fca246f9eabbdeb8cac03030e826b5e" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>clear</name></member>
+      <member refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" prot="public" virt="non-virtual"><scope>sqmat</scope><name>cols</name></member>
+      <member refid="classsqmat_10abed904bdc0882373ba9adba919689d" prot="protected" virt="non-virtual"><scope>sqmat</scope><name>dim</name></member>
+      <member refid="classsqmat_16230e8e8a9341866aaa0ce008691aac2" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>invqform</name></member>
+      <member refid="classsqmat_10a772b396750eeeed85d69fa72478b45" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>logdet</name></member>
+      <member refid="classsqmat_160fbbfa9e483b8187c135f787ee53afa" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>mult_sym</name></member>
+      <member refid="classsqmat_16909e906da17725b1b80f3cae7cf3325" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>mult_sym_t</name></member>
+      <member refid="classsqmat_1b223484796661f2dadb5607a86ce0581" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>opupdt</name></member>
+      <member refid="classsqmat_1fc026312eb02ba09f85d5aacd6f05ab3" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>qform</name></member>
+      <member refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" prot="public" virt="non-virtual"><scope>sqmat</scope><name>rows</name></member>
+      <member refid="classsqmat_14268750c040c716b2c05037f725078a2" prot="public" virt="non-virtual"><scope>sqmat</scope><name>sqmat</name></member>
+      <member refid="classsqmat_16b79438b5d7544a9c8e110a145355d8f" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>sqrt_mult</name></member>
+      <member refid="classsqmat_19a5b6fddfeb42339e1dc9b978a2590fc" prot="public" virt="pure-virtual"><scope>sqmat</scope><name>to_mat</name></member>
+      <member refid="classsqmat_10481f2067bb32aaea7e6d4f27e46b656" prot="public" virt="virtual"><scope>sqmat</scope><name>~sqmat</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classKalmanFull.xml
===================================================================
--- /doc/xml/classKalmanFull.xml (revision 187)
+++ /doc/xml/classKalmanFull.xml (revision 187)
@@ -0,0 +1,398 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classKalmanFull" kind="class" prot="public">
+    <compoundname>KalmanFull</compoundname>
+    <derivedcompoundref refid="classEKFfull" prot="public" virt="non-virtual">EKFfull</derivedcompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Pp</definition>
+        <argsstring></argsstring>
+        <name>_Pp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_iRy</definition>
+        <argsstring></argsstring>
+        <name>_iRy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec KalmanFull::mu</definition>
+        <argsstring></argsstring>
+        <name>mu</name>
+        <briefdescription>
+<para>Mean value of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="37" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::P</definition>
+        <argsstring></argsstring>
+        <name>P</name>
+        <briefdescription>
+<para>Variance of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="39" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool KalmanFull::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="41" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double KalmanFull::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classKalmanFull_17197ab6e7380790006394eabd3b97043" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>KalmanFull::KalmanFull</definition>
+        <argsstring>(mat A, mat B, mat C, mat D, mat R, mat Q, mat P0, vec mu0)</argsstring>
+        <name>KalmanFull</name>
+        <param>
+          <type>mat</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>B</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>C</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>D</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>R</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>Q</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>P0</declname>
+        </param>
+        <param>
+          <type>vec</type>
+          <declname>mu0</declname>
+        </param>
+        <briefdescription>
+<para>Full constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="45" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="8" bodyend="31"/>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">P</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanFull_113a041cd98ff157703766be275a657bb" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void KalmanFull::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplementedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0">bayes</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="47" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="33" bodyend="54"/>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">P</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>KalmanFull::KalmanFull</definition>
+        <argsstring>()</argsstring>
+        <name>KalmanFull</name>
+        <briefdescription>
+<para>For <ref refid="classEKFfull" kindref="compound">EKFfull</ref>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="51" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="51" bodyend="51"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="friend">
+      <memberdef kind="friend" id="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>friend std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const KalmanFull &amp;kf)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classKalmanFull" kindref="compound">KalmanFull</ref> &amp;</type>
+          <declname>kf</declname>
+        </param>
+        <briefdescription>
+<para>print elements of KF </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="49" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="56" bodyend="59"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Basic <ref refid="classKalman" kindref="compound">Kalman</ref> filter with full matrices (education purpose only)! Will be deleted soon! </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1113">
+        <label>EKF_unQful</label>
+        <childnode refid="1112" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1114">
+        <label>EKFful_unQR</label>
+        <link refid="classEKFful__unQR"/>
+        <childnode refid="1112" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1112">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="1111" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1111">
+        <label>KalmanFull</label>
+        <link refid="classKalmanFull"/>
+      </node>
+    </inheritancegraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="27" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="27" bodyend="52"/>
+    <listofallmembers>
+      <member refid="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>_iRy</name></member>
+      <member refid="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>_K</name></member>
+      <member refid="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>_Pp</name></member>
+      <member refid="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>_Ry</name></member>
+      <member refid="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>A</name></member>
+      <member refid="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>B</name></member>
+      <member refid="classKalmanFull_113a041cd98ff157703766be275a657bb" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>bayes</name></member>
+      <member refid="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>C</name></member>
+      <member refid="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>D</name></member>
+      <member refid="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>dimu</name></member>
+      <member refid="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>dimx</name></member>
+      <member refid="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>dimy</name></member>
+      <member refid="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>evalll</name></member>
+      <member refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>ll</name></member>
+      <member refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>mu</name></member>
+      <member refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>operator&lt;&lt;</name></member>
+      <member refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" virt="non-virtual"><scope>KalmanFull</scope><name>P</name></member>
+      <member refid="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>Q</name></member>
+      <member refid="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" virt="non-virtual"><scope>KalmanFull</scope><name>R</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classARX.xml
===================================================================
--- /doc/xml/classARX.xml (revision 187)
+++ /doc/xml/classARX.xml (revision 187)
@@ -0,0 +1,471 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classARX" kind="class" prot="public">
+    <compoundname>ARX</compoundname>
+    <basecompoundref refid="classBM" prot="public" virt="non-virtual">BM</basecompoundref>
+    <includes refid="arx_8h" local="no">arx.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classARX_1691d023662beffa1dda611b416c0e27e" prot="protected" static="no" mutable="no">
+        <type><ref refid="classegiw" kindref="compound">egiw</ref></type>
+        <definition>egiw ARX::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>Posterior estimate of <formula id="57">$\theta,r$</formula> in the form of Normal-inverse Wishart density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="39" bodyend="-1"/>
+        <referencedby refid="classARX_19d8eff7a9df81786191a4c55b27e5b8a" compoundref="arx_8h" startline="59" endline="59">_epdf</referencedby>
+        <referencedby refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" compoundref="arx_8h" startline="52" endline="52">ARX</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+        <referencedby refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" compoundref="arx_8h" startline="56" endline="56">get_parameters</referencedby>
+        <referencedby refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" compoundref="arx_8h" startline="54" endline="54">set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classARX_12291297861dd74ca0175a01f910a0ef7" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat&amp; ARX::V</definition>
+        <argsstring></argsstring>
+        <name>V</name>
+        <briefdescription>
+<para>cached value of est.V </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="41" bodyend="-1"/>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classARX_1a4182c281098b2d86b62518a7493d9be" prot="protected" static="no" mutable="no">
+        <type>double &amp;</type>
+        <definition>double&amp; ARX::nu</definition>
+        <argsstring></argsstring>
+        <name>nu</name>
+        <briefdescription>
+<para>cached value of est.nu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="43" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="43" bodyend="-1"/>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classARX_1e467144efb0a5acbc10dba4eff8638fe" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ARX::frg</definition>
+        <argsstring></argsstring>
+        <name>frg</name>
+        <briefdescription>
+<para>forgetting factor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="45" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="45" bodyend="-1"/>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ARX::last_lognc</definition>
+        <argsstring></argsstring>
+        <name>last_lognc</name>
+        <briefdescription>
+<para>cached value of lognc() in the previous step (used in evaluation of <computeroutput>ll</computeroutput> ) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="47" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="47" bodyend="-1"/>
+        <referencedby refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" compoundref="arx_8h" startline="52" endline="52">ARX</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+        <referencedby refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" compoundref="arx_8h" startline="54" endline="54">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classARX_164ea7c8ff48bf2548bac3e985e24da19" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ARX::tll</definition>
+        <argsstring></argsstring>
+        <name>tll</name>
+        <briefdescription>
+<para>total likelihood </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="49" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="49" bodyend="-1"/>
+        <referencedby refid="classARX_1b8827048ceec8999849e2ed15400cae7" compoundref="arx_8h" startline="63" endline="63">_tll</referencedby>
+        <referencedby refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" compoundref="arx_8h" startline="52" endline="52">ARX</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+        <referencedby refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" compoundref="arx_8h" startline="54" endline="54">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classARX_15fc6c18e73dcc0f1135eef33f42db8be" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>ARX::ARX</definition>
+        <argsstring>(RV &amp;rv, mat &amp;V0, double &amp;nu0, double frg0=1.0)</argsstring>
+        <name>ARX</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>V0</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>nu0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>frg0</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>Full constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="52" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="52" bodyend="52"/>
+        <references refid="classARX_1691d023662beffa1dda611b416c0e27e" compoundref="arx_8h" startline="39">est</references>
+        <references refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" compoundref="arx_8h" startline="47">last_lognc</references>
+        <references refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">egiw::lognc</references>
+        <references refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" compoundref="arx_8h" startline="49">tll</references>
+      </memberdef>
+      <memberdef kind="function" id="classARX_13ccef8dc9dbed00ec74dddc949845d39" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void ARX::set_parameters</definition>
+        <argsstring>(mat &amp;V0, double &amp;nu0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>mat &amp;</type>
+          <declname>V0</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>nu0</declname>
+        </param>
+        <briefdescription>
+<para>Set sufficient statistics. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="54" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="54" bodyend="54"/>
+        <references refid="classegiw_108029c481ff95d24f093df0573879afe" compoundref="libEF_8h" startline="138" endline="138">egiw::_nu</references>
+        <references refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" compoundref="libEF_8h" startline="136" endline="136">egiw::_V</references>
+        <references refid="classARX_1691d023662beffa1dda611b416c0e27e" compoundref="arx_8h" startline="39">est</references>
+        <references refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" compoundref="arx_8h" startline="47">last_lognc</references>
+        <references refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">egiw::lognc</references>
+        <references refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" compoundref="arx_8h" startline="49">tll</references>
+      </memberdef>
+      <memberdef kind="function" id="classARX_129f55b43b8b6f5c4a55f6176aa85c494" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void ARX::get_parameters</definition>
+        <argsstring>(mat &amp;V0, double &amp;nu0)</argsstring>
+        <name>get_parameters</name>
+        <param>
+          <type>mat &amp;</type>
+          <declname>V0</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>nu0</declname>
+        </param>
+        <briefdescription>
+<para>Returns sufficient statistics. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="56" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="56" bodyend="56"/>
+        <references refid="classegiw_108029c481ff95d24f093df0573879afe" compoundref="libEF_8h" startline="138" endline="138">egiw::_nu</references>
+        <references refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" compoundref="libEF_8h" startline="136" endline="136">egiw::_V</references>
+        <references refid="classARX_1691d023662beffa1dda611b416c0e27e" compoundref="arx_8h" startline="39">est</references>
+        <references refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" compoundref="libDC_8cpp" startline="80" endline="101">ldmat::to_mat</references>
+      </memberdef>
+      <memberdef kind="function" id="classARX_1ba82c956ca893826811aefe1e4af465d" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void ARX::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here <formula id="58">$dt = [y_t psi_t] $</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="58" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.cpp" bodystart="5" bodyend="24"/>
+        <references refid="classARX_1691d023662beffa1dda611b416c0e27e" compoundref="arx_8h" startline="39">est</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" compoundref="arx_8h" startline="45">frg</references>
+        <references refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" compoundref="arx_8h" startline="47">last_lognc</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">egiw::lognc</references>
+        <references refid="classARX_1a4182c281098b2d86b62518a7493d9be" compoundref="arx_8h" startline="43">nu</references>
+        <references refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">ldmat::opupdt</references>
+        <references refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" compoundref="arx_8h" startline="49">tll</references>
+        <references refid="classARX_12291297861dd74ca0175a01f910a0ef7" compoundref="arx_8h" startline="41">V</references>
+      </memberdef>
+      <memberdef kind="function" id="classARX_19d8eff7a9df81786191a4c55b27e5b8a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; ARX::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>Returns a pointer to the <ref refid="classepdf" kindref="compound">epdf</ref> representing posterior density on parameters. Use with care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="59" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="59" bodyend="59"/>
+        <references refid="classARX_1691d023662beffa1dda611b416c0e27e" compoundref="arx_8h" startline="39">est</references>
+      </memberdef>
+      <memberdef kind="function" id="classARX_1130bb7336aac681ce14b027b8f1409fa" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>ivec</type>
+        <definition>ivec ARX::structure_est</definition>
+        <argsstring>(egiw Eg0)</argsstring>
+        <name>structure_est</name>
+        <param>
+          <type><ref refid="classegiw" kindref="compound">egiw</ref></type>
+          <declname>Eg0</declname>
+        </param>
+        <briefdescription>
+<para>Brute force structure estimation. </para>        </briefdescription>
+        <detaileddescription>
+<para><simplesect kind="return"><para>indeces of accepted regressors. </para></simplesect>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="61" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.cpp" bodystart="82" bodyend="86"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classARX_1691d023662beffa1dda611b416c0e27e" compoundref="arx_8h" startline="39">est</references>
+        <references refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">egiw::lognc</references>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classARX_1b8827048ceec8999849e2ed15400cae7" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double ARX::_tll</definition>
+        <argsstring>()</argsstring>
+        <name>_tll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="63" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="63" bodyend="63"/>
+        <references refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" compoundref="arx_8h" startline="49">tll</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Linear Autoregressive model with Gaussian noise. </para>    </briefdescription>
+    <detaileddescription>
+<para>Regression of the following kind: <formula id="61">\[ y_t = \theta_1 \psi_1 + \theta_2 + \psi_2 +\ldots + \theta_n \psi_n + r e_t \]</formula> where unknown parameters <computeroutput>rv</computeroutput> are <formula id="51">$[\theta r]$</formula>, regression vector <formula id="52">$\psi=\psi(y_{1:t},u_{1:t})$</formula> is a known function of past outputs and exogeneous variables <formula id="53">$u_t$</formula>. Distrubances <formula id="54">$e_t$</formula> are supposed to be normally distributed: <formula id="62">\[ e_t \sim \mathcal{N}(0,1). \]</formula></para><para>Extension for time-variant parameters <formula id="55">$\theta_t,r_t$</formula> may be achived using exponential forgetting (Kulhavy and Zarrop, 1993). In such a case, the forgetting factor <computeroutput>frg</computeroutput> <formula id="56">$\in &lt;0,1&gt;$</formula> should be given in the constructor. Time-invariant parameters are estimated for <computeroutput>frg</computeroutput> = 1. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="627">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="626">
+        <label>ARX</label>
+        <link refid="classARX"/>
+        <childnode refid="627" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="631">
+        <label>ldmat</label>
+        <link refid="classldmat"/>
+        <childnode refid="632" relation="private-inheritance">
+        </childnode>
+      </node>
+      <node id="635">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="630" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="629">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="630" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="630">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="632">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="634">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="635" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="628">
+        <label>ARX</label>
+        <link refid="classARX"/>
+        <childnode refid="629" relation="public-inheritance">
+        </childnode>
+        <childnode refid="631" relation="usage">
+          <edgelabel>V</edgelabel>
+        </childnode>
+        <childnode refid="633" relation="usage">
+          <edgelabel>est</edgelabel>
+        </childnode>
+      </node>
+      <node id="633">
+        <label>egiw</label>
+        <link refid="classegiw"/>
+        <childnode refid="634" relation="public-inheritance">
+        </childnode>
+        <childnode refid="631" relation="usage">
+          <edgelabel>V</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.h" bodystart="36" bodyend="64"/>
+    <listofallmembers>
+      <member refid="classARX_19d8eff7a9df81786191a4c55b27e5b8a" prot="public" virt="virtual"><scope>ARX</scope><name>_epdf</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>ARX</scope><name>_ll</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>ARX</scope><name>_rv</name></member>
+      <member refid="classARX_1b8827048ceec8999849e2ed15400cae7" prot="public" virt="non-virtual"><scope>ARX</scope><name>_tll</name></member>
+      <member refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" prot="public" virt="non-virtual"><scope>ARX</scope><name>ARX</name></member>
+      <member refid="classARX_1ba82c956ca893826811aefe1e4af465d" prot="public" virt="virtual"><scope>ARX</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>ARX</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>ARX</scope><name>BM</name></member>
+      <member refid="classARX_1691d023662beffa1dda611b416c0e27e" prot="protected" virt="non-virtual"><scope>ARX</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>ARX</scope><name>evalll</name></member>
+      <member refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" prot="protected" virt="non-virtual"><scope>ARX</scope><name>frg</name></member>
+      <member refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" prot="public" virt="non-virtual"><scope>ARX</scope><name>get_parameters</name></member>
+      <member refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" prot="protected" virt="non-virtual"><scope>ARX</scope><name>last_lognc</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>ARX</scope><name>ll</name></member>
+      <member refid="classARX_1a4182c281098b2d86b62518a7493d9be" prot="protected" virt="non-virtual"><scope>ARX</scope><name>nu</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>ARX</scope><name>rv</name></member>
+      <member refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" prot="public" virt="non-virtual"><scope>ARX</scope><name>set_parameters</name></member>
+      <member refid="classARX_1130bb7336aac681ce14b027b8f1409fa" prot="public" virt="non-virtual"><scope>ARX</scope><name>structure_est</name></member>
+      <member refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" prot="protected" virt="non-virtual"><scope>ARX</scope><name>tll</name></member>
+      <member refid="classARX_12291297861dd74ca0175a01f910a0ef7" prot="protected" virt="non-virtual"><scope>ARX</scope><name>V</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>ARX</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classStringAttribute.xml
===================================================================
--- /doc/xml/classStringAttribute.xml (revision 187)
+++ /doc/xml/classStringAttribute.xml (revision 187)
@@ -0,0 +1,172 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classStringAttribute" kind="class" prot="public">
+    <compoundname>StringAttribute</compoundname>
+    <basecompoundref refid="classAttribute" prot="public" virt="non-virtual">Attribute</basecompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classStringAttribute_1e55ae245a8ae9e16236695bd5121f744" prot="public" static="no" mutable="no">
+        <type>string</type>
+        <definition>string StringAttribute::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="127" bodyend="-1"/>
+        <referencedby refid="classCarUI_1931b042d42e04cb6ac84ee2a28d8ca3c" compoundref="testUI_8cpp" startline="74" endline="78">CarUI::build</referencedby>
+        <referencedby refid="classEngineUI_1ba55eba106280ea1ae26b0a93df101e1" compoundref="testUI_8cpp" startline="32" endline="35">EngineUI::build</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classStringAttribute_1a507cdfd19fa54e8a6cf22ffb45e5c81" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>StringAttribute::StringAttribute</definition>
+        <argsstring>(const string name)</argsstring>
+        <name>StringAttribute</name>
+        <param>
+          <type>const string</type>
+          <declname>name</declname>
+        </param>
+        <briefdescription>
+<para>User Info base class. </para>        </briefdescription>
+        <detaileddescription>
+<para>This class is used to store information about parameters of an object. It support loading and saving of the information and, potentially, interaction with the user. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="128" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="140" bodyend="144"/>
+      </memberdef>
+      <memberdef kind="function" id="classStringAttribute_1a02e791125f2f8e53e5d9beda8291408" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void StringAttribute::Set</definition>
+        <argsstring>(const string str)</argsstring>
+        <name>Set</name>
+        <reimplements refid="classAttribute_1bfb68f3502af06cda0f61390526e1c2f">Set</reimplements>
+        <param>
+          <type>const string</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+<para>Set accessor to this attribute converting input string into a properly-typed value. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="129" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="146" bodyend="149"/>
+      </memberdef>
+      <memberdef kind="function" id="classStringAttribute_12e43e29b9da9b9c1eab65e11f4bf4518" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>const string</type>
+        <definition>const string StringAttribute::Get</definition>
+        <argsstring>()</argsstring>
+        <name>Get</name>
+        <reimplements refid="classAttribute_1ebeef001a0f4176900f643f529c549b8">Get</reimplements>
+        <briefdescription>
+<para>Get accessor converting stored value into a string. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="130" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="151" bodyend="154"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_1abd94a0487d662f28264f4faa214d894" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Attribute::Attach</definition>
+        <argsstring>(MappedAttributes &amp;externalAttributes)</argsstring>
+        <name>Attach</name>
+        <param>
+          <type><ref refid="classAttribute_1342750acf29e4c37d009301ef5075111" kindref="member">MappedAttributes</ref> &amp;</type>
+          <declname>externalAttributes</declname>
+        </param>
+        <briefdescription>
+<para>This method is the key method to connect the attribute to the related UI element. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="73" bodyend="77"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_1387a68e5de7b1e31022022493f00cbff" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Attribute::FillAttribute</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>FillAttribute</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method add and DOMAttribute node to the DOMElement passed as an argument. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="79" bodyend="90"/>
+        <references refid="classAttribute_1ebeef001a0f4176900f643f529c549b8">Attribute::Get</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-type">
+      <memberdef kind="typedef" id="classAttribute_1342750acf29e4c37d009301ef5075111" prot="public" static="no">
+        <type>map&lt; const XMLCh *const, <ref refid="classAttribute" kindref="compound">Attribute</ref> *const, GlobalXercesConnector::Comparator &gt;</type>
+        <definition>typedef map&lt;const XMLCh* const, Attribute* const, GlobalXercesConnector::Comparator&gt; Attribute::MappedAttributes</definition>
+        <argsstring></argsstring>
+        <name>MappedAttributes</name>
+        <briefdescription>
+<para>Type definition of mapping which transforms names to the related attributes. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="79" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class encapsulating all the necessary stuff to work with a string attribute. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1124">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+      </node>
+      <node id="1123">
+        <label>StringAttribute</label>
+        <link refid="classStringAttribute"/>
+        <childnode refid="1124" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1126">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+      </node>
+      <node id="1127">
+        <label>string</label>
+      </node>
+      <node id="1125">
+        <label>StringAttribute</label>
+        <link refid="classStringAttribute"/>
+        <childnode refid="1126" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1127" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="124" bodyend="131"/>
+    <listofallmembers>
+      <member refid="classAttribute_1abd94a0487d662f28264f4faa214d894" prot="public" virt="non-virtual"><scope>StringAttribute</scope><name>Attach</name></member>
+      <member refid="classAttribute_131c94d75bbe6b2834b1ef633cb8565fb" prot="public" virt="non-virtual"><scope>StringAttribute</scope><name>Attribute</name></member>
+      <member refid="classAttribute_1387a68e5de7b1e31022022493f00cbff" prot="public" virt="non-virtual"><scope>StringAttribute</scope><name>FillAttribute</name></member>
+      <member refid="classStringAttribute_12e43e29b9da9b9c1eab65e11f4bf4518" prot="public" virt="virtual"><scope>StringAttribute</scope><name>Get</name></member>
+      <member refid="classAttribute_1342750acf29e4c37d009301ef5075111" prot="public" virt="non-virtual"><scope>StringAttribute</scope><name>MappedAttributes</name></member>
+      <member refid="classStringAttribute_1a02e791125f2f8e53e5d9beda8291408" prot="public" virt="virtual"><scope>StringAttribute</scope><name>Set</name></member>
+      <member refid="classStringAttribute_1a507cdfd19fa54e8a6cf22ffb45e5c81" prot="public" virt="non-virtual"><scope>StringAttribute</scope><name>StringAttribute</name></member>
+      <member refid="classStringAttribute_1e55ae245a8ae9e16236695bd5121f744" prot="public" virt="non-virtual"><scope>StringAttribute</scope><name>value</name></member>
+      <member refid="classAttribute_128ab087bb886728670e4ae5791bc2ea8" prot="public" virt="non-virtual"><scope>StringAttribute</scope><name>~Attribute</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_5e53796be1b4c047e8d6be4070dae7ad.xml
===================================================================
--- /doc/xml/dir_5e53796be1b4c047e8d6be4070dae7ad.xml (revision 187)
+++ /doc/xml/dir_5e53796be1b4c047e8d6be4070dae7ad.xml (revision 187)
@@ -0,0 +1,23 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_5e53796be1b4c047e8d6be4070dae7ad" kind="dir">
+    <compoundname>work/mixpp/pmsm/</compoundname>
+    <innerdir refid="dir_1d64dbea28bfa2063054ebcb428e5efb">work/mixpp/pmsm/simulator_zdenek/</innerdir>
+    <innerfile refid="pmsm_8h">pmsm.h</innerfile>
+    <innerfile refid="pmsm__mix_8cpp">pmsm_mix.cpp</innerfile>
+    <innerfile refid="pmsm__sim_8cpp">pmsm_sim.cpp</innerfile>
+    <innerfile refid="pmsm__sim2_8cpp">pmsm_sim2.cpp</innerfile>
+    <innerfile refid="pmsm__sim3_8cpp">pmsm_sim3.cpp</innerfile>
+    <innerfile refid="pmsm__unkQ_8cpp">pmsm_unkQ.cpp</innerfile>
+    <innerfile refid="pmsm__unkQpf_8cpp">pmsm_unkQpf.cpp</innerfile>
+    <innerfile refid="sim__profiles_8h">sim_profiles.h</innerfile>
+    <innerfile refid="sim__var_8cpp">sim_var.cpp</innerfile>
+    <innerfile refid="sim__var__arx_8cpp">sim_var_arx.cpp</innerfile>
+    <innerfile refid="testbidiff_8cpp">testbidiff.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/pmsm/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/regulace_8cpp.xml
===================================================================
--- /doc/xml/regulace_8cpp.xml (revision 187)
+++ /doc/xml/regulace_8cpp.xml (revision 187)
@@ -0,0 +1,743 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="regulace_8cpp" kind="file">
+    <compoundname>regulace.cpp</compoundname>
+    <includes local="no">math.h</includes>
+    <includes refid="nastaveni__regulatoru__float_8h" local="yes">nastaveni_regulatoru_float.h</includes>
+    <includes refid="regulace_8h" local="yes">regulace.h</includes>
+    <incdepgraph>
+      <node id="790">
+        <label>regulace.h</label>
+        <link refid="regulace_8h-source"/>
+      </node>
+      <node id="787">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp</label>
+        <link refid="regulace.cpp"/>
+        <childnode refid="788" relation="include">
+        </childnode>
+        <childnode refid="789" relation="include">
+        </childnode>
+        <childnode refid="790" relation="include">
+        </childnode>
+      </node>
+      <node id="789">
+        <label>nastaveni_regulatoru_float.h</label>
+        <link refid="nastaveni__regulatoru__float_8h-source"/>
+      </node>
+      <node id="788">
+        <label>math.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="regulace_8cpp_1525335710b53cb064ca56b936120431e" prot="public" static="no">
+        <name>_USE_MATH_DEFINES</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="13" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="13" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="regulace_8cpp_1d326b4d3473dcc30a7320073b1a86411" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double ud</definition>
+        <argsstring></argsstring>
+        <name>ud</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_174352e2af5ca7b52f4e791577b424c37" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double uq</definition>
+        <argsstring></argsstring>
+        <name>uq</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_12c34e6d1341d3ee390071ecaf9411914" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double alfa</definition>
+        <argsstring></argsstring>
+        <name>alfa</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_19424343761f8c4f4c1afe8f5b6bf471b" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double beta</definition>
+        <argsstring></argsstring>
+        <name>beta</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1a6543b2bc53bf16c6be8dbdfa0c5137c" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Sid</definition>
+        <argsstring></argsstring>
+        <name>Sid</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1738b424830c2456934492c1f1ebf8248" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Siq</definition>
+        <argsstring></argsstring>
+        <name>Siq</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_155885ac468775a6ca90a0f4264404729" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Surm</definition>
+        <argsstring></argsstring>
+        <name>Surm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_102eeeeb5f00d724a3c82fb1d4ef8e8ed" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Iqwmax</definition>
+        <argsstring></argsstring>
+        <name>Iqwmax</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1d086f926f71e503743270604a5347508" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Iqw_reg</definition>
+        <argsstring></argsstring>
+        <name>Iqw_reg</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_151a59ff927f4ff0f0676c12e5c894a79" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Idw_urm</definition>
+        <argsstring></argsstring>
+        <name>Idw_urm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1fa36cff2636c989fe0fa5c30e14d8d01" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Sw</definition>
+        <argsstring></argsstring>
+        <name>Sw</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="36" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="36" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_16adf77edbad3c6c9a69c0f2b7c9ab99a" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double U</definition>
+        <argsstring></argsstring>
+        <name>U</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="38" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="38" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1861a0366ee90e5e1cf56cafe74ddaabe" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Um</definition>
+        <argsstring></argsstring>
+        <name>Um</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="39" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="39" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1e490ab2f2d71bb4fbe86fe8a62a60aeb" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Urmf</definition>
+        <argsstring></argsstring>
+        <name>Urmf</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="39" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="39" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_104c723a40b1200dacfcdcaaf51bbf5a4" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Kodv_ud</definition>
+        <argsstring></argsstring>
+        <name>Kodv_ud</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="42" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_12a8671331ef13ec24076a290487409d5" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Kodv_uind</definition>
+        <argsstring></argsstring>
+        <name>Kodv_uind</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="42" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1d900a67bffe289dfbb015b908a2d1685" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isd</definition>
+        <argsstring></argsstring>
+        <name>Isd</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_11c6d368fcf2a6b1c92e39c124d25d737" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isq</definition>
+        <argsstring></argsstring>
+        <name>Isq</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1faeae9ee7305d7ca47b2707b9e1823ca" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Fs</definition>
+        <argsstring></argsstring>
+        <name>Fs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1558972170606cd05054ab130beabad1e" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Fmag</definition>
+        <argsstring></argsstring>
+        <name>Fmag</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_115f09e12710588f190ffb75c32fd70e4" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double moment</definition>
+        <argsstring></argsstring>
+        <name>moment</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1bad4eebf61961d8f4731374800617981" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double K_Fs</definition>
+        <argsstring></argsstring>
+        <name>K_Fs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_111a8f4d80b873b7ecfe5daf87b96c89a" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double K_moment</definition>
+        <argsstring></argsstring>
+        <name>K_moment</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1549a89c8114ff1e3d28010e2e1d3d862" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Ismaxf2</definition>
+        <argsstring></argsstring>
+        <name>Ismaxf2</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="45" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="45" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_1a3378773e6dd84aeb1bcf451ba1d9025" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double tmp_omezeni</definition>
+        <argsstring></argsstring>
+        <name>tmp_omezeni</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="45" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="45" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="regulace_8cpp_18bf8016d7dc5deb088c84616ca363fbc" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double Treg</definition>
+        <argsstring></argsstring>
+        <name>Treg</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="regulace_8cpp_1f1ab9d3fe7fb20fb6b2e7585725e72ea" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void init_regulace</definition>
+        <argsstring>(double Ls, double Fpm, double kp, double p, double TV)</argsstring>
+        <name>init_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Ls</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Fpm</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>TV</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="20"/>
+      </memberdef>
+      <memberdef kind="function" id="regulace_8cpp_171d09500b31dfce56234053b946cbf34" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void vektor_regulace</definition>
+        <argsstring>(double Idw, double Iqw, double Urm_max, double Ww, double *u, double Isx, double Isy, double theta, double rychlost, double Ucn_2, double Uc, double Ucn, unsigned int rezim)</argsstring>
+        <name>vektor_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Idw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Iqw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Urm_max</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isx</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>theta</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>rychlost</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn_2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rezim</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="21"/>
+      </memberdef>
+      <memberdef kind="function" id="regulace_8cpp_1154c64d72d9a6e1e1d5621c6561372eb" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double pi_reg</definition>
+        <argsstring>(double epsilon, double Kpf, double Kif, double MAX, double MIN, double *S)</argsstring>
+        <name>pi_reg</name>
+        <param>
+          <type>double</type>
+          <declname>epsilon</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Kpf</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Kif</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>MAX</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>MIN</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>S</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="67" bodyend="78"/>
+      </memberdef>
+      <memberdef kind="function" id="regulace_8cpp_1d52cd3d5f2f7c2561b9d318c3d9e66a8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double uhel</definition>
+        <argsstring>(double x, double y)</argsstring>
+        <name>uhel</name>
+        <param>
+          <type>double</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>y</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="50" bodyend="64"/>
+      </memberdef>
+      <memberdef kind="function" id="regulace_8cpp_1355f57120e187949afdadc570d5c5bd6" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void filtr</definition>
+        <argsstring>(double U, double *Uf, double kt)</argsstring>
+        <name>filtr</name>
+        <param>
+          <type>double</type>
+          <declname>U</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Uf</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kt</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="80" bodyend="86"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/********************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vector<sp/>control<sp/>of<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Control<sp/>-<sp/>floating<sp/>point</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*********************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;nastaveni_regulatoru_float.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;regulace.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fpm,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulatory<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ud,<sp/>uq,<sp/>alfa,<sp/>beta;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sid,<sp/>Siq,<sp/>Surm;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqwmax,<sp/>Iqw_reg;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw_urm;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sw;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>Urmf;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="comment">//<sp/>odvazbovaci<sp/>obvod<sp/>-<sp/>blok<sp/>vypocet<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kodv_ud,<sp/>Kodv_uind;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isd,<sp/>Isq,<sp/>Fs,<sp/>Fmag,<sp/>moment,<sp/>K_Fs,<sp/>K_moment;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ismaxf2,<sp/>tmp_omezeni;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Treg;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y)</highlight></codeline>
+<codeline lineno="51"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x==0)</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y==0)<sp/>th=0.;</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y&gt;0)<sp/>th=M_PI/2.;</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>th=-M_PI/2.;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/>th=atan(y/x);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&lt;0)<sp/>th+=M_PI;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S)</highlight></codeline>
+<codeline lineno="68"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/>out=Kpf*epsilon+*S;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&gt;MAX)<sp/>out=MAX;</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&lt;MIN)<sp/>out=MIN;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/>*S+=Kif*epsilon;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt)</highlight></codeline>
+<codeline lineno="81"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ufpom;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/>Ufpom=*Uf;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/>*Uf=Ufpom+kt*(U-*Uf);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fpm,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV)</highlight></codeline>
+<codeline lineno="92"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpd;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pomocna<sp/>velicina</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>parametry<sp/>pro<sp/>odvazbeni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/>Fmag=Fpm;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/>Sid=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/>Siq=0;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/>Surm=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/>Urmf=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>filtrovane<sp/>napeti<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu<sp/>kvuli<sp/>momentu<sp/>zvratu<sp/>-<sp/>omezeni<sp/>pomoci<sp/>frmax</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/>Ismaxf2=Ismax*Ismax;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>blok<sp/>VYPOCET<sp/>NAPETI</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/>Kodv_ud=Ls;</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/>Kodv_uind=Fmag;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/>Sw=0;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/>Treg=TV;</highlight></codeline>
+<codeline lineno="115"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim)</highlight></codeline>
+<codeline lineno="118"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/>Isd=Isx*cos(theta)+Isy*sin(theta);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/>Isq=Isy*cos(theta)-Isx*sin(theta);</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw,-MAXw,&amp;Sw);</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==0)</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zkouska<sp/>max.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Regulator<sp/>odbuzovani</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/>Idw_urm=pi_reg(Urm_max-Urmf,Kpurm,Kpurm*Treg/Tiurm,0.,MINurm,&amp;Surm);</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>proudu<sp/>Id,<sp/>Iq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/>ud=pi_reg(Idw_urm-Isd,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Sid);</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>max.<sp/>momentu<sp/>(resp.<sp/>max.<sp/>Iqw)<sp/>s<sp/>ohledem<sp/>na<sp/>max.<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/>tmp_omezeni=Ismaxf2-Idw_urm*Idw_urm;</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_omezeni&lt;0)<sp/>Iqwmax=0;</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>Iqwmax=sqrt(tmp_omezeni);</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;Iqwmax)<sp/>Iqw_reg=Iqwmax;</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&lt;-Iqwmax)<sp/>Iqw_reg=-Iqwmax;</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/>uq=pi_reg(Iqw_reg-Isq,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Siq);</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/>ud-=Kodv_ud*rychlost*Iqw_reg;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/>uq+=Kodv_ud*rychlost*Idw_urm+Kodv_uind*rychlost;</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>-<sp/>saturace<sp/>napeti<sp/>-<sp/>stejne<sp/>omezeni<sp/>jako<sp/>u<sp/>reg.<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&gt;MAXi)<sp/>ud=MAXi;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&lt;-MAXi)<sp/>ud=-MAXi;</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&gt;MAXi)<sp/>uq=MAXi;</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&lt;-MAXi)<sp/>uq=-MAXi;</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>a<sp/>poloha<sp/>vektoru<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/>Um=sqrt(ud*ud+uq*uq);</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/>alfa=uhel(ud,uq);</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>polohy<sp/>vektoru<sp/>napeti<sp/>ve<sp/>stojicim<sp/>souradnem<sp/>systemu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/>beta=alfa+theta;</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Urmf<sp/>pro<sp/>dalsi<sp/>periodu<sp/>vzorkovani</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/>filtr(Um/Ucn_2,&amp;Urmf,Treg/Tfurm);</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight><highlight class="comment">//<sp/>saturation<sp/>of<sp/>modulation<sp/>depth<sp/>going<sp/>to<sp/>PWM</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Um&gt;Ucn_2*Urm_max)<sp/>Um=Ucn_2*Urm_max;<sp/><sp/></highlight><highlight class="comment">//<sp/>linear<sp/>modulation<sp/>area<sp/>only<sp/>-<sp/>ensure<sp/>max.<sp/>modulation<sp/>depth</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="168"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/>*u=Um;</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/>*(u+1)=beta;</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"></highlight></codeline>
+<codeline lineno="173"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classchmat.xml
===================================================================
--- /doc/xml/classchmat.xml (revision 187)
+++ /doc/xml/classchmat.xml (revision 187)
@@ -0,0 +1,603 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classchmat" kind="class" prot="public">
+    <compoundname>chmat</compoundname>
+    <basecompoundref refid="classsqmat" prot="public" virt="non-virtual">sqmat</basecompoundref>
+    <includes refid="chmat_8h" local="no">chmat.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classchmat_195158bb150f5e7f939168abcd577fd9c" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat chmat::Ch</definition>
+        <argsstring></argsstring>
+        <name>Ch</name>
+        <briefdescription>
+<para>Upper triangle of the cholesky matrix. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="30" bodyend="-1"/>
+        <referencedby refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">_Ch</referencedby>
+        <referencedby refid="classchmat_1d92f3bd9a727b8c88a8c7385feb3449a" compoundref="chmat_8h" startline="58" endline="58">chmat</referencedby>
+        <referencedby refid="classchmat_1d0a995d312ecc11d3b43693f5e224ba9" compoundref="chmat_8cpp" startline="46" endline="46">clear</referencedby>
+        <referencedby refid="classchmat_15ce4e21a9012a4e98c1f0ed1ca5669bd" compoundref="chmat_8h" startline="47" endline="47">inv</referencedby>
+        <referencedby refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4" compoundref="chmat_8cpp" startline="41" endline="45">invqform</referencedby>
+        <referencedby refid="classchmat_1b504ca818203b13e667cb3c503980382" compoundref="chmat_8cpp" startline="32" endline="37">logdet</referencedby>
+        <referencedby refid="classchmat_1bbc2d98d7455b1f38828907d442836bf" compoundref="chmat_8cpp" startline="9" endline="18">opupdt</referencedby>
+        <referencedby refid="classchmat_16807737c7ffdb7041256b51db7592248" compoundref="chmat_8cpp" startline="40" endline="40">qform</referencedby>
+        <referencedby refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" compoundref="chmat_8h" startline="68" endline="68">setD</referencedby>
+        <referencedby refid="classchmat_1b22aa239dbaca33e3fb93b4f674d7051" compoundref="chmat_8cpp" startline="39" endline="39">sqrt_mult</referencedby>
+        <referencedby refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" compoundref="chmat_8cpp" startline="19" endline="19">to_mat</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classsqmat_10abed904bdc0882373ba9adba919689d" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int sqmat::dim</definition>
+        <argsstring></argsstring>
+        <name>dim</name>
+        <briefdescription>
+<para>dimension of the square matrix </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" compoundref="libDC_8cpp" startline="104" endline="114">ldmat::add</referencedby>
+        <referencedby refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" compoundref="libDC_8h" startline="277" endline="277">ldmat::cols</referencedby>
+        <referencedby refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" compoundref="libDC_8h" startline="91" endline="91">sqmat::cols</referencedby>
+        <referencedby refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldmat::ldform</referencedby>
+        <referencedby refid="classldmat_1abe16e0f86668ef61a9a4896c8565dee" compoundref="libDC_8cpp" startline="41" endline="44">ldmat::ldmat</referencedby>
+        <referencedby refid="libDC_8h_16715d039e6d5d97005cf9e2522dfa474" compoundref="libDC_8cpp" startline="301" endline="320">ltuinv</referencedby>
+        <referencedby refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">ldmat::opupdt</referencedby>
+        <referencedby refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" compoundref="libDC_8h" startline="279" endline="279">ldmat::rows</referencedby>
+        <referencedby refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" compoundref="libDC_8h" startline="94" endline="94">sqmat::rows</referencedby>
+        <referencedby refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" compoundref="libDC_8cpp" startline="189" endline="201">ldmat::sqrt_mult</referencedby>
+        <referencedby refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" compoundref="libDC_8cpp" startline="80" endline="101">ldmat::to_mat</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classchmat_1bbc2d98d7455b1f38828907d442836bf" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void chmat::opupdt</definition>
+        <argsstring>(const vec &amp;v, double w)</argsstring>
+        <name>opupdt</name>
+        <reimplements refid="classsqmat_1b223484796661f2dadb5607a86ce0581">opupdt</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>w</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>Perfroms a rank-1 update by outer product of vectors: <formula id="23">$V = V + w v v&apos;$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>v</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>Vector forming the outer product to be added </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>w</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>weight of updating; can be negative</para></parameterdescription>
+</parameteritem>
+</parameterlist>
+BLAS-2b operation. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="9" bodyend="18"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat chmat::to_mat</definition>
+        <argsstring>()</argsstring>
+        <name>to_mat</name>
+        <reimplements refid="classsqmat_19a5b6fddfeb42339e1dc9b978a2590fc">to_mat</reimplements>
+        <briefdescription>
+<para>Conversion to full matrix. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="34" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="19" bodyend="19"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_166f509f92b0ccf020e2a2a32566e0777" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void chmat::mult_sym</definition>
+        <argsstring>(const mat &amp;C)</argsstring>
+        <name>mult_sym</name>
+        <reimplements refid="classsqmat_160fbbfa9e483b8187c135f787ee53afa">mult_sym</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE matrix <formula id="24">$C$</formula>, i.e. <formula id="25">$V = C*V*C&apos;$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="35" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="20" bodyend="22"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1d558ab63475a2f2ebc0c0e149796dcc6" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void chmat::mult_sym</definition>
+        <argsstring>(const mat &amp;C, chmat &amp;U) const </argsstring>
+        <name>mult_sym</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <param>
+          <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>U</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="23" bodyend="25"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_107f50d1332b901eee962e8b1913102f7" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void chmat::mult_sym_t</definition>
+        <argsstring>(const mat &amp;C)</argsstring>
+        <name>mult_sym_t</name>
+        <reimplements refid="classsqmat_16909e906da17725b1b80f3cae7cf3325">mult_sym_t</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE transpose of matrix <formula id="24">$C$</formula>, i.e. <formula id="26">$V = C&apos;*V*C$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="26" bodyend="28"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_131c3b985214a150b2a6b4be3b0fd40e3" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void chmat::mult_sym_t</definition>
+        <argsstring>(const mat &amp;C, chmat &amp;U) const </argsstring>
+        <name>mult_sym_t</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <param>
+          <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>U</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="38" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="29" bodyend="31"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1b504ca818203b13e667cb3c503980382" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double chmat::logdet</definition>
+        <argsstring>() const </argsstring>
+        <name>logdet</name>
+        <reimplements refid="classsqmat_10a772b396750eeeed85d69fa72478b45">logdet</reimplements>
+        <briefdescription>
+<para>Logarithm of a determinant. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="32" bodyend="37"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1b22aa239dbaca33e3fb93b4f674d7051" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>vec</type>
+        <definition>vec chmat::sqrt_mult</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>sqrt_mult</name>
+        <reimplements refid="classsqmat_16b79438b5d7544a9c8e110a145355d8f">sqrt_mult</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Multiplies square root of <formula id="27">$V$</formula> by vector <formula id="28">$x$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Used e.g. in generating normal samples. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="39" bodyend="39"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_16807737c7ffdb7041256b51db7592248" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double chmat::qform</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>qform</name>
+        <reimplements refid="classsqmat_1fc026312eb02ba09f85d5aacd6f05ab3">qform</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="29">$x= v&apos;*V*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="40" bodyend="40"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1b49427cff186c62f5df3724e5d2c34b4" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double chmat::invqform</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>invqform</name>
+        <reimplements refid="classsqmat_16230e8e8a9341866aaa0ce008691aac2">invqform</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="30">$x= v&apos;*inv(V)*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="41" bodyend="45"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1d0a995d312ecc11d3b43693f5e224ba9" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void chmat::clear</definition>
+        <argsstring>()</argsstring>
+        <name>clear</name>
+        <reimplements refid="classsqmat_16fca246f9eabbdeb8cac03030e826b5e">clear</reimplements>
+        <briefdescription>
+<para>Clearing matrix so that it corresponds to zeros. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="43" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.cpp" bodystart="46" bodyend="46"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1f3921e3e5e31337cdbda40a3a5467257" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void chmat::add</definition>
+        <argsstring>(const chmat &amp;A2, double w=1.0)</argsstring>
+        <name>add</name>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>A2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>w</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>add another <ref refid="classchmat" kindref="compound">chmat</ref> <computeroutput>A2</computeroutput> with weight <computeroutput>w</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="45" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="45" bodyend="45"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_15ce4e21a9012a4e98c1f0ed1ca5669bd" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void chmat::inv</definition>
+        <argsstring>(chmat &amp;Inv) const </argsstring>
+        <name>inv</name>
+        <param>
+          <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>Inv</declname>
+        </param>
+        <briefdescription>
+<para>Inversion in the same form, i.e. cholesky. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="47" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="47" bodyend="47"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1ba62fbf7cb8e065a4f3d24457824e89b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual chmat::~chmat</definition>
+        <argsstring>()</argsstring>
+        <name>~chmat</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="52" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="52" bodyend="52"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1fdd73b0c596161637fd25bdf2c670c39" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>chmat::chmat</definition>
+        <argsstring>(const int dim0)</argsstring>
+        <name>chmat</name>
+        <param>
+          <type>const int</type>
+          <declname>dim0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="54" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="54" bodyend="54"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1d4f0a94e81279295e60e72812130f9d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>chmat::chmat</definition>
+        <argsstring>(const vec &amp;v)</argsstring>
+        <name>chmat</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="56" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="56" bodyend="56"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1d92f3bd9a727b8c88a8c7385feb3449a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>chmat::chmat</definition>
+        <argsstring>(const chmat &amp;Ch0)</argsstring>
+        <name>chmat</name>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>Ch0</declname>
+        </param>
+        <briefdescription>
+<para>Copy constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="58" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="58" bodyend="58"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_18334a00f30f0a05f893c2aeec395ef10" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>chmat::chmat</definition>
+        <argsstring>(const mat &amp;M)</argsstring>
+        <name>chmat</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>M</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor (m3k:cholform). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="60" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="60" bodyend="64"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; chmat::_Ch</definition>
+        <argsstring>()</argsstring>
+        <name>_Ch</name>
+        <briefdescription>
+<para>Access function. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="66" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="66" bodyend="66"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void chmat::setD</definition>
+        <argsstring>(const vec &amp;nD)</argsstring>
+        <name>setD</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>nD</declname>
+        </param>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="68" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="68" bodyend="68"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_14b9271097d8317d9514c5d0d62cccb39" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void chmat::setD</definition>
+        <argsstring>(const vec &amp;nD, int i)</argsstring>
+        <name>setD</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>nD</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>i</declname>
+        </param>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="70" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="70" bodyend="70"/>
+        <references refid="classchmat_195158bb150f5e7f939168abcd577fd9c" compoundref="chmat_8h" startline="30">Ch</references>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_16a8b39fe3a28d2c8e3fc0d74141229fb" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; chmat::operator+=</definition>
+        <argsstring>(const chmat &amp;A2)</argsstring>
+        <name>operator+=</name>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>A2</declname>
+        </param>
+        <briefdescription>
+<para>Operators. </para>        </briefdescription>
+        <detaileddescription>
+<para>Operations: mapping of add operation to operators </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="80" bodyend="80"/>
+      </memberdef>
+      <memberdef kind="function" id="classchmat_1a8c3628a8c15eb0009e57c66fcac1a76" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; chmat::operator-=</definition>
+        <argsstring>(const chmat &amp;A2)</argsstring>
+        <name>operator-=</name>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>A2</declname>
+        </param>
+        <briefdescription>
+<para>mapping of negative add operation to operators </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="74" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="82" bodyend="82"/>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_1ecc2e2540f95a04f4449842588170f5b" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int sqmat::cols</definition>
+        <argsstring>() const </argsstring>
+        <name>cols</name>
+        <reimplementedby refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306">cols</reimplementedby>
+        <briefdescription>
+<para>Reimplementing common functions of mat: <ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member">cols()</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="91" bodyend="91"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+      </memberdef>
+      <memberdef kind="function" id="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int sqmat::rows</definition>
+        <argsstring>() const </argsstring>
+        <name>rows</name>
+        <reimplementedby refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163">rows</reimplementedby>
+        <briefdescription>
+<para>Reimplementing common functions of mat: <ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member">cols()</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="94" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="94" bodyend="94"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Symmetric matrix stored in square root decomposition using upper cholesky. </para>    </briefdescription>
+    <detaileddescription>
+<para>This matrix represent <formula id="19">$A=Ch&apos; Ch$</formula> where only the upper triangle <formula id="20">$Ch$</formula> is stored; </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="764">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="763">
+        <label>chmat</label>
+        <link refid="classchmat"/>
+        <childnode refid="764" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="766">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="765">
+        <label>chmat</label>
+        <link refid="classchmat"/>
+        <childnode refid="766" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h" line="27" bodyfile="/home/smidl/work/git/mixpp/bdm/math/chmat.h" bodystart="27" bodyend="75"/>
+    <listofallmembers>
+      <member refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" prot="public" virt="non-virtual"><scope>chmat</scope><name>_Ch</name></member>
+      <member refid="classchmat_1f3921e3e5e31337cdbda40a3a5467257" prot="public" virt="non-virtual"><scope>chmat</scope><name>add</name></member>
+      <member refid="classchmat_195158bb150f5e7f939168abcd577fd9c" prot="protected" virt="non-virtual"><scope>chmat</scope><name>Ch</name></member>
+      <member refid="classchmat_1fdd73b0c596161637fd25bdf2c670c39" prot="public" virt="non-virtual"><scope>chmat</scope><name>chmat</name></member>
+      <member refid="classchmat_1d4f0a94e81279295e60e72812130f9d4" prot="public" virt="non-virtual"><scope>chmat</scope><name>chmat</name></member>
+      <member refid="classchmat_1d92f3bd9a727b8c88a8c7385feb3449a" prot="public" virt="non-virtual"><scope>chmat</scope><name>chmat</name></member>
+      <member refid="classchmat_18334a00f30f0a05f893c2aeec395ef10" prot="public" virt="non-virtual"><scope>chmat</scope><name>chmat</name></member>
+      <member refid="classchmat_1d0a995d312ecc11d3b43693f5e224ba9" prot="public" virt="virtual"><scope>chmat</scope><name>clear</name></member>
+      <member refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" prot="public" virt="non-virtual"><scope>chmat</scope><name>cols</name></member>
+      <member refid="classsqmat_10abed904bdc0882373ba9adba919689d" prot="protected" virt="non-virtual"><scope>chmat</scope><name>dim</name></member>
+      <member refid="classchmat_15ce4e21a9012a4e98c1f0ed1ca5669bd" prot="public" virt="non-virtual"><scope>chmat</scope><name>inv</name></member>
+      <member refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4" prot="public" virt="virtual"><scope>chmat</scope><name>invqform</name></member>
+      <member refid="classchmat_1b504ca818203b13e667cb3c503980382" prot="public" virt="virtual"><scope>chmat</scope><name>logdet</name></member>
+      <member refid="classchmat_166f509f92b0ccf020e2a2a32566e0777" prot="public" virt="virtual"><scope>chmat</scope><name>mult_sym</name></member>
+      <member refid="classchmat_1d558ab63475a2f2ebc0c0e149796dcc6" prot="public" virt="non-virtual"><scope>chmat</scope><name>mult_sym</name></member>
+      <member refid="classchmat_107f50d1332b901eee962e8b1913102f7" prot="public" virt="virtual"><scope>chmat</scope><name>mult_sym_t</name></member>
+      <member refid="classchmat_131c3b985214a150b2a6b4be3b0fd40e3" prot="public" virt="non-virtual"><scope>chmat</scope><name>mult_sym_t</name></member>
+      <member refid="classchmat_16a8b39fe3a28d2c8e3fc0d74141229fb" prot="public" virt="non-virtual"><scope>chmat</scope><name>operator+=</name></member>
+      <member refid="classchmat_1a8c3628a8c15eb0009e57c66fcac1a76" prot="public" virt="non-virtual"><scope>chmat</scope><name>operator-=</name></member>
+      <member refid="classchmat_1bbc2d98d7455b1f38828907d442836bf" prot="public" virt="virtual"><scope>chmat</scope><name>opupdt</name></member>
+      <member refid="classchmat_16807737c7ffdb7041256b51db7592248" prot="public" virt="virtual"><scope>chmat</scope><name>qform</name></member>
+      <member refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" prot="public" virt="non-virtual"><scope>chmat</scope><name>rows</name></member>
+      <member refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" prot="public" virt="non-virtual"><scope>chmat</scope><name>setD</name></member>
+      <member refid="classchmat_14b9271097d8317d9514c5d0d62cccb39" prot="public" virt="non-virtual"><scope>chmat</scope><name>setD</name></member>
+      <member refid="classsqmat_14268750c040c716b2c05037f725078a2" prot="public" virt="non-virtual"><scope>chmat</scope><name>sqmat</name></member>
+      <member refid="classchmat_1b22aa239dbaca33e3fb93b4f674d7051" prot="public" virt="virtual"><scope>chmat</scope><name>sqrt_mult</name></member>
+      <member refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" prot="public" virt="virtual"><scope>chmat</scope><name>to_mat</name></member>
+      <member refid="classchmat_1ba62fbf7cb8e065a4f3d24457824e89b" prot="public" virt="virtual"><scope>chmat</scope><name>~chmat</name></member>
+      <member refid="classsqmat_10481f2067bb32aaea7e6d4f27e46b656" prot="public" virt="virtual"><scope>chmat</scope><name>~sqmat</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classRootElement.xml
===================================================================
--- /doc/xml/classRootElement.xml (revision 187)
+++ /doc/xml/classRootElement.xml (revision 187)
@@ -0,0 +1,204 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classRootElement" kind="class" prot="public">
+    <compoundname>RootElement</compoundname>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classRootElement_19ad71509b6a6fc1c5a6269f20d6f0d7a" prot="private" static="no" mutable="no">
+        <type>const <ref refid="classAssertXercesIsAlive" kindref="compound">AssertXercesIsAlive</ref></type>
+        <definition>const AssertXercesIsAlive RootElement::dummy</definition>
+        <argsstring></argsstring>
+        <name>dummy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This private attribute has to be declared as the first attribute in the class. Only this way we can be sure it&apos;s constructor is called as the first and thus Xerces is initialized properly and right on time </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="582" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="582" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classRootElement_19402605c1fc9d343e6b042c397df3f4c" prot="private" static="no" mutable="no">
+        <type>DOMDocument *</type>
+        <definition>DOMDocument* RootElement::pDoc</definition>
+        <argsstring></argsstring>
+        <name>pDoc</name>
+        <briefdescription>
+<para>DOMDocument containing the root element this instance is associated to. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="585" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="585" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classRootElement_14829b8c8b5c3485033e6bc02dbd8775d" prot="private" static="no" mutable="no">
+        <type>const XMLCh *const</type>
+        <definition>const XMLCh* const RootElement::transcodedFileName</definition>
+        <argsstring></argsstring>
+        <name>transcodedFileName</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="587" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="587" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classRootElement_1ba44e86a811d86f51b7da8d3d995faf4" prot="private" static="no" mutable="no">
+        <type>DOMImplementation *</type>
+        <definition>DOMImplementation* RootElement::pImplementation</definition>
+        <argsstring></argsstring>
+        <name>pImplementation</name>
+        <briefdescription>
+<para>DOMImplementation is a base class for the all DOM oparations. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="590" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="590" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classRootElement_138d5457ac80a4c7337a72cae16547609" prot="private" static="no" mutable="no">
+        <type>DOMWriter *</type>
+        <definition>DOMWriter* RootElement::pSerializer</definition>
+        <argsstring></argsstring>
+        <name>pSerializer</name>
+        <briefdescription>
+<para>This DOMWriter is used to export internal data into xml file. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="593" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="593" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classRootElement_143ee507bba02fd893126062a9dff0683" prot="private" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void RootElement::Clean</definition>
+        <argsstring>()</argsstring>
+        <name>Clean</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="595" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="106" bodyend="112"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classRootElement_125cd0a3019e91c5bbe8bc09cdf6e61aa" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>RootElement::RootElement</definition>
+        <argsstring>(char *fileName)</argsstring>
+        <name>RootElement</name>
+        <param>
+          <type>char *</type>
+          <declname>fileName</declname>
+        </param>
+        <briefdescription>
+<para>attach new <ref refid="classRootElement" kindref="compound">RootElement</ref> instance to a file (typically with an XML extension) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="599" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="79" bodyend="95"/>
+      </memberdef>
+      <memberdef kind="function" id="classRootElement_12ca3893547fd56ceb30536210ceecf29" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>RootElement::~RootElement</definition>
+        <argsstring>()</argsstring>
+        <name>~RootElement</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="601" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="97" bodyend="104"/>
+      </memberdef>
+      <memberdef kind="function" id="classRootElement_1888749537060fd60a939486cd2e73b9b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool RootElement::Load</definition>
+        <argsstring>(void)</argsstring>
+        <name>Load</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+<para>this method loads root element and all its subnodes from the attached file </para>        </briefdescription>
+        <detaileddescription>
+<para>loads root element from a file </para>        </detaileddescription>
+        <inbodydescription>
+<para>This DOMWriter is used to import external data from xml files </para>        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="604" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="115" bodyend="139"/>
+      </memberdef>
+      <memberdef kind="function" id="classRootElement_15ce717e64c3b7be09f695e6ede6294db" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void RootElement::Save</definition>
+        <argsstring>(void)</argsstring>
+        <name>Save</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+<para>this method saves all the previsoulsy attached DOMElements into the file </para>        </briefdescription>
+        <detaileddescription>
+<para>Save <ref refid="classUserInfo" kindref="compound">UserInfo</ref> to the file (typically with an XML extension). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="607" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="143" bodyend="147"/>
+      </memberdef>
+      <memberdef kind="function" id="classRootElement_19ad2ae1c73d73b06bc98afa0f32d9ad3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>RootElement::operator DOMElement &amp;</definition>
+        <argsstring>()</argsstring>
+        <name>operator DOMElement &amp;</name>
+        <briefdescription>
+<para>this operator allows to use a <ref refid="classRootElement" kindref="compound">RootElement</ref> instance whenever a DOMElement variable is accepted </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="610" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="149" bodyend="152"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>This class serves to load and/or save DOMElements into/from files stored on a hard-disk. </para>    </briefdescription>
+    <detaileddescription>
+<para>Firstly, you associate new <ref refid="classRootElement" kindref="compound">RootElement</ref> instance with some filename during a time of its construtcion. Then, you disassembly some object into the new <ref refid="classRootElement" kindref="compound">RootElement</ref> instance, and save it into the file this way: <programlisting><codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>CAudi<sp/>audi;</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRootElement" kindref="compound" tooltip="This class serves to load and/or save DOMElements into/from files stored on a hard-disk...">RootElement</ref><sp/>root(</highlight><highlight class="stringliteral">&quot;cars.xml&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">UserInfo::Disassembly</ref>(<sp/>audi,<sp/>root,<sp/></highlight><highlight class="stringliteral">&quot;TT&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>root.Save();</highlight></codeline>
+</programlisting></para><para>In the other way round, when loading object from a XML file, the appropriate code looks like this: <programlisting><codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRootElement" kindref="compound" tooltip="This class serves to load and/or save DOMElements into/from files stored on a hard-disk...">RootElement</ref><sp/>root(</highlight><highlight class="stringliteral">&quot;cars.xml&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>root.Load();</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>UserInfo::Assembly&lt;T&gt;(root,</highlight><highlight class="stringliteral">&quot;TT&quot;</highlight><highlight class="normal">);</highlight></codeline>
+</programlisting> </para>    </detaileddescription>
+    <collaborationgraph>
+      <node id="1287">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="1286">
+        <label>RootElement</label>
+        <link refid="classRootElement"/>
+        <childnode refid="1287" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="577" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="576" bodyend="611"/>
+    <listofallmembers>
+      <member refid="classRootElement_143ee507bba02fd893126062a9dff0683" prot="private" virt="non-virtual"><scope>RootElement</scope><name>Clean</name></member>
+      <member refid="classRootElement_19ad71509b6a6fc1c5a6269f20d6f0d7a" prot="private" virt="non-virtual"><scope>RootElement</scope><name>dummy</name></member>
+      <member refid="classRootElement_1888749537060fd60a939486cd2e73b9b" prot="public" virt="non-virtual"><scope>RootElement</scope><name>Load</name></member>
+      <member refid="classRootElement_19ad2ae1c73d73b06bc98afa0f32d9ad3" prot="public" virt="non-virtual"><scope>RootElement</scope><name>operator DOMElement &amp;</name></member>
+      <member refid="classRootElement_19402605c1fc9d343e6b042c397df3f4c" prot="private" virt="non-virtual"><scope>RootElement</scope><name>pDoc</name></member>
+      <member refid="classRootElement_1ba44e86a811d86f51b7da8d3d995faf4" prot="private" virt="non-virtual"><scope>RootElement</scope><name>pImplementation</name></member>
+      <member refid="classRootElement_138d5457ac80a4c7337a72cae16547609" prot="private" virt="non-virtual"><scope>RootElement</scope><name>pSerializer</name></member>
+      <member refid="classRootElement_125cd0a3019e91c5bbe8bc09cdf6e61aa" prot="public" virt="non-virtual"><scope>RootElement</scope><name>RootElement</name></member>
+      <member refid="classRootElement_15ce717e64c3b7be09f695e6ede6294db" prot="public" virt="non-virtual"><scope>RootElement</scope><name>Save</name></member>
+      <member refid="classRootElement_14829b8c8b5c3485033e6bc02dbd8775d" prot="private" virt="non-virtual"><scope>RootElement</scope><name>transcodedFileName</name></member>
+      <member refid="classRootElement_12ca3893547fd56ceb30536210ceecf29" prot="public" virt="non-virtual"><scope>RootElement</scope><name>~RootElement</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_6822becb2e0478d2264ac4a66e4bf4a2.xml
===================================================================
--- /doc/xml/dir_6822becb2e0478d2264ac4a66e4bf4a2.xml (revision 187)
+++ /doc/xml/dir_6822becb2e0478d2264ac4a66e4bf4a2.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_6822becb2e0478d2264ac4a66e4bf4a2" kind="dir">
+    <compoundname>work/git/mixpp/mpdm/</compoundname>
+    <innerfile refid="merg__pred_8cpp">merg_pred.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/mpdm/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libFN_8cpp.xml
===================================================================
--- /doc/xml/libFN_8cpp.xml (revision 187)
+++ /doc/xml/libFN_8cpp.xml (revision 187)
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libFN_8cpp" kind="file">
+    <compoundname>libFN.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libFN_8h" local="yes">libFN.h</includes>
+    <incdepgraph>
+      <node id="410">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="408" relation="include">
+        </childnode>
+      </node>
+      <node id="409">
+        <label>libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="408" relation="include">
+        </childnode>
+        <childnode refid="410" relation="include">
+        </childnode>
+      </node>
+      <node id="408">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="407">
+        <label>work/git/mixpp/bdm/stat/libFN.cpp</label>
+        <link refid="libFN.cpp"/>
+        <childnode refid="408" relation="include">
+        </childnode>
+        <childnode refid="409" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;libFN.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6" refid="classbilinfn_1c99f91d7752e131275b219df731868bd" refkind="member"><highlight class="normal"><ref refid="classbilinfn_1af9f36282730d910a41b95f4d1fb8221" kindref="member" tooltip="Default constructor.">bilinfn::bilinfn</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvx0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvu0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;B0<sp/>)<sp/>:<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref><sp/>(A0.rows(),<sp/>rvx0,rvu0<sp/>)</highlight></codeline>
+<codeline lineno="7"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//check<sp/>input</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>A0.cols()<sp/>==<ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref><sp/>)<sp/>&amp;<sp/>(<sp/>A0.rows()<sp/>==B0.rows()<sp/>),<sp/></highlight><highlight class="stringliteral">&quot;linfn::<sp/>wrong<sp/>A&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>B0.cols()<sp/>==<ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref><sp/>),<sp/></highlight><highlight class="stringliteral">&quot;linfn::<sp/>wrong<sp/>B&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>set<sp/>dimensions</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfnc_122d51d10a7901331167f64f80d1af8e9" kindref="member" tooltip="Length of the output vector.">dimy</ref><sp/>=<sp/>A0.rows();</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//set<sp/>internals</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>=<sp/>A0;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>B<sp/>=<sp/>B0;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20" refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" refkind="member"><highlight class="normal"></highlight><highlight class="keyword">inline</highlight><highlight class="normal"><sp/>vec<sp/><ref refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" kindref="member" tooltip="Evaluates .">bilinfn::eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0<sp/>)</highlight></codeline>
+<codeline lineno="21"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>x0.length()<sp/>==<ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>,<sp/></highlight><highlight class="stringliteral">&quot;linfn::eval<sp/>Wrong<sp/>xcond.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>u0.length()<sp/>==<ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref>,<sp/></highlight><highlight class="stringliteral">&quot;linfn::eval<sp/>Wrong<sp/>ucond.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>A*x0+B*u0;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">};</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_2a4634b79ddaf4531d125eea945f5003.xml
===================================================================
--- /doc/xml/dir_2a4634b79ddaf4531d125eea945f5003.xml (revision 187)
+++ /doc/xml/dir_2a4634b79ddaf4531d125eea945f5003.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_2a4634b79ddaf4531d125eea945f5003" kind="dir">
+    <compoundname>work/mixpp/CMakeFiles/CompilerIdC/</compoundname>
+    <innerfile refid="CMakeCCompilerId_8c">CMakeCCompilerId.c</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/CMakeFiles/CompilerIdC/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classAttribute.xml
===================================================================
--- /doc/xml/classAttribute.xml (revision 187)
+++ /doc/xml/classAttribute.xml (revision 187)
@@ -0,0 +1,185 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classAttribute" kind="class" prot="public">
+    <compoundname>Attribute</compoundname>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classAttribute_1d83a96149ae0e64667f2d5758cfa1bf1" prot="private" static="no" mutable="no">
+        <type><ref refid="classAssertXercesIsAlive" kindref="compound">AssertXercesIsAlive</ref></type>
+        <definition>AssertXercesIsAlive Attribute::dummy</definition>
+        <argsstring></argsstring>
+        <name>dummy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This private attribute has to be declared as the first attribute in the class. Only this way we can be sure it&apos;s constructor is called as the first and thus Xerces is initialized properly and right on time </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="131" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="131" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classAttribute_155346e03a6ac9d60f288c4fedab6731f" prot="private" static="no" mutable="no">
+        <type>const XMLCh *const</type>
+        <definition>const XMLCh* const Attribute::transcodedAttributeName</definition>
+        <argsstring></argsstring>
+        <name>transcodedAttributeName</name>
+        <briefdescription>
+<para>an attribute name </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="134" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="134" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-attrib">
+      <memberdef kind="variable" id="classAttribute_1d6474fd976f505e70e10c497199c6770" prot="public" static="yes" mutable="no">
+        <type>const <ref refid="classAttribute" kindref="compound">Attribute</ref></type>
+        <definition>const Attribute Attribute::help</definition>
+        <argsstring></argsstring>
+        <name>help</name>
+        <briefdescription>
+<para>Static member, an instance related to an attribute named &apos;help&apos;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="149" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="149" bodyend="-1"/>
+        <referencedby refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classAttribute_15f6cce980606fa8943857204aacb5478" prot="public" static="yes" mutable="no">
+        <type>const <ref refid="classAttribute" kindref="compound">Attribute</ref></type>
+        <definition>const Attribute Attribute::type</definition>
+        <argsstring></argsstring>
+        <name>type</name>
+        <briefdescription>
+<para>Static member, a constant instance related to an attribute named &apos;type&apos;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="152" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="152" bodyend="-1"/>
+        <referencedby refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" compoundref="userinfo_8h" startline="226" endline="291">UserInfo::Assembly</referencedby>
+        <referencedby refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classAttribute_1452441da4ebfda23cdc668943ffe8da7" prot="public" static="yes" mutable="no">
+        <type>const <ref refid="classAttribute" kindref="compound">Attribute</ref></type>
+        <definition>const Attribute Attribute::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+<para>Static member, a constant instance related to the attribute named &apos;value&apos;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="155" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="155" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classAttribute_14c4c80e6b59e3356324ef02d0e92d813" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>Attribute::Attribute</definition>
+        <argsstring>(string attributeName)</argsstring>
+        <name>Attribute</name>
+        <param>
+          <type>string</type>
+          <declname>attributeName</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor fixing a name of the related attribute. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="29" bodyend="33"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_128ab087bb886728670e4ae5791bc2ea8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>Attribute::~Attribute</definition>
+        <argsstring>()</argsstring>
+        <name>~Attribute</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="140" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="35" bodyend="38"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>string &amp;</type>
+        <definition>string &amp; Attribute::Get</definition>
+        <argsstring>(DOMElement &amp;element) const </argsstring>
+        <name>Get</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method parse DOMElement, finds proper attribute and returns its value. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="143" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="40" bodyend="44"/>
+        <referencedby refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" compoundref="userinfo_8h" startline="226" endline="291">UserInfo::Assembly</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Attribute::Set</definition>
+        <argsstring>(DOMElement &amp;element, const string &amp;str) const </argsstring>
+        <name>Set</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+<para>This method adds the passed string as an new attribute into the passed DOMElement. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="146" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="46" bodyend="52"/>
+        <referencedby refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Abstract class declaring general properties of a frame for data binding. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <collaborationgraph>
+      <node id="641">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+        <childnode refid="642" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+        <childnode refid="641" relation="usage">
+          <edgelabel>help
+value
+type</edgelabel>
+        </childnode>
+      </node>
+      <node id="642">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="125" bodyend="156"/>
+    <listofallmembers>
+      <member refid="classAttribute_14c4c80e6b59e3356324ef02d0e92d813" prot="public" virt="non-virtual"><scope>Attribute</scope><name>Attribute</name></member>
+      <member refid="classAttribute_1d83a96149ae0e64667f2d5758cfa1bf1" prot="private" virt="non-virtual"><scope>Attribute</scope><name>dummy</name></member>
+      <member refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" prot="public" virt="non-virtual"><scope>Attribute</scope><name>Get</name></member>
+      <member refid="classAttribute_1d6474fd976f505e70e10c497199c6770" prot="public" virt="non-virtual"><scope>Attribute</scope><name>help</name></member>
+      <member refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" prot="public" virt="non-virtual"><scope>Attribute</scope><name>Set</name></member>
+      <member refid="classAttribute_155346e03a6ac9d60f288c4fedab6731f" prot="private" virt="non-virtual"><scope>Attribute</scope><name>transcodedAttributeName</name></member>
+      <member refid="classAttribute_15f6cce980606fa8943857204aacb5478" prot="public" virt="non-virtual"><scope>Attribute</scope><name>type</name></member>
+      <member refid="classAttribute_1452441da4ebfda23cdc668943ffe8da7" prot="public" virt="non-virtual"><scope>Attribute</scope><name>value</name></member>
+      <member refid="classAttribute_128ab087bb886728670e4ae5791bc2ea8" prot="public" virt="non-virtual"><scope>Attribute</scope><name>~Attribute</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/loggers__test_8cpp.xml
===================================================================
--- /doc/xml/loggers__test_8cpp.xml (revision 187)
+++ /doc/xml/loggers__test_8cpp.xml (revision 187)
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="loggers__test_8cpp" kind="file">
+    <compoundname>loggers_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="loggers_8h" local="no">stat/loggers.h</includes>
+    <incdepgraph>
+      <node id="834">
+        <label>stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="833" relation="include">
+        </childnode>
+        <childnode refid="835" relation="include">
+        </childnode>
+        <childnode refid="836" relation="include">
+        </childnode>
+      </node>
+      <node id="835">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="833" relation="include">
+        </childnode>
+      </node>
+      <node id="836">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="833" relation="include">
+        </childnode>
+      </node>
+      <node id="832">
+        <label>work/git/mixpp/tests/loggers_test.cpp</label>
+        <link refid="loggers_test.cpp"/>
+        <childnode refid="833" relation="include">
+        </childnode>
+        <childnode refid="834" relation="include">
+        </childnode>
+      </node>
+      <node id="833">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="loggers__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/loggers_test.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/loggers_test.cpp" bodystart="10" bodyend="33"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">stat/loggers.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>th<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{a<sp/>b<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>r<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{r<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>L(</highlight><highlight class="stringliteral">&quot;exp/dirfile&quot;</highlight><highlight class="normal">,10);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rid;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>thid;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rid=L.add(r,</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>thid=L.add(th,</highlight><highlight class="stringliteral">&quot;th&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.init();</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;150;<sp/>i++){<sp/><sp/></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(rid,vec_2((</highlight><highlight class="keywordtype">double</highlight><highlight class="normal">)i,(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal">)(i+1)));</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(thid,vec_2((</highlight><highlight class="keywordtype">double</highlight><highlight class="normal">)(100-i),(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal">)(i-50)));</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.step();</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.finalize();</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/loggers_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classCar.xml
===================================================================
--- /doc/xml/classCar.xml (revision 187)
+++ /doc/xml/classCar.xml (revision 187)
@@ -0,0 +1,127 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classCar" kind="class" prot="public">
+    <compoundname>Car</compoundname>
+    <basecompoundref prot="public" virt="non-virtual">Transport</basecompoundref>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classCar_14bd2d59b360588090ff934b8959820a8" prot="public" static="no" mutable="no">
+        <type>const int</type>
+        <definition>const int Car::kilometers</definition>
+        <argsstring></argsstring>
+        <name>kilometers</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classTransport_170cae36f44aac2f8acb03ac65acf2a26" prot="public" static="no" mutable="no">
+        <type>const int</type>
+        <definition>const int Transport::year</definition>
+        <argsstring></argsstring>
+        <name>year</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classTransport_1b0465cd394405877c611959dde903d75" prot="public" static="no" mutable="no">
+        <type>const string</type>
+        <definition>const string Transport::manufacturer</definition>
+        <argsstring></argsstring>
+        <name>manufacturer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classCar_1a8ccc4968a556f14a40d7a4fb5bac8af" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>Car::Car</definition>
+        <argsstring>(int year, string manufacturer, int kilometers)</argsstring>
+        <name>Car</name>
+        <param>
+          <type>int</type>
+          <declname>year</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>manufacturer</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>kilometers</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="26" bodyend="29"/>
+      </memberdef>
+      <memberdef kind="function" id="classCar_113d5fa64838ff7888fdc36180912d27e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void Car::ToString</definition>
+        <argsstring>()</argsstring>
+        <name>ToString</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="31" bodyend="34"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="742">
+        <label>Car</label>
+        <childnode refid="743" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="743">
+        <label>Transport</label>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="746">
+        <label>string</label>
+      </node>
+      <node id="744">
+        <label>Car</label>
+        <childnode refid="745" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="745">
+        <label>Transport</label>
+        <childnode refid="746" relation="usage">
+          <edgelabel>manufacturer</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="22" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="21" bodyend="35"/>
+    <listofallmembers>
+      <member refid="classCar_1a8ccc4968a556f14a40d7a4fb5bac8af" prot="public" virt="non-virtual"><scope>Car</scope><name>Car</name></member>
+      <member refid="classCar_14bd2d59b360588090ff934b8959820a8" prot="public" virt="non-virtual"><scope>Car</scope><name>kilometers</name></member>
+      <member refid="classTransport_1b0465cd394405877c611959dde903d75" prot="public" virt="non-virtual"><scope>Car</scope><name>manufacturer</name></member>
+      <member refid="classCar_113d5fa64838ff7888fdc36180912d27e" prot="public" virt="non-virtual"><scope>Car</scope><name>ToString</name></member>
+      <member refid="classTransport_1e02bf118eb273cccfa2ec0329dca763f" prot="public" virt="non-virtual"><scope>Car</scope><name>Transport</name></member>
+      <member refid="classTransport_170cae36f44aac2f8acb03ac65acf2a26" prot="public" virt="non-virtual"><scope>Car</scope><name>year</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classfnc.xml
===================================================================
--- /doc/xml/classfnc.xml (revision 187)
+++ /doc/xml/classfnc.xml (revision 187)
@@ -0,0 +1,155 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classfnc" kind="class" prot="public">
+    <compoundname>fnc</compoundname>
+    <derivedcompoundref refid="classconstfn" prot="public" virt="non-virtual">constfn</derivedcompoundref>
+    <derivedcompoundref refid="classdiffbifn" prot="public" virt="non-virtual">diffbifn</derivedcompoundref>
+    <derivedcompoundref refid="classlinfn" prot="public" virt="non-virtual">linfn</derivedcompoundref>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">diffbifn::eval</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>fnc::fnc</definition>
+        <argsstring>(int dy)</argsstring>
+        <name>fnc</name>
+        <param>
+          <type>int</type>
+          <declname>dy</declname>
+        </param>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="119" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="119" bodyend="119"/>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_17fad2e6cb35909a165ec5a53def4a18c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec fnc::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632">eval</reimplementedby>
+        <reimplementedby refid="classlinfn_1fac0e56701f4c7beaf1c91f9b2a55f0b">eval</reimplementedby>
+        <reimplementedby refid="classconstfn_10411f603cbf675f2bc04a8f85e4e3b52">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>function evaluates numerical value of <formula id="35">$f(x)$</formula> at <formula id="37">$x=$</formula> <computeroutput>cond</computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="121" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="121" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual fnc::~fnc</definition>
+        <argsstring>()</argsstring>
+        <name>~fnc</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="129" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="129" bodyend="129"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class representing function <formula id="35">$f(x)$</formula> of variable <formula id="28">$x$</formula> represented by <computeroutput>rv</computeroutput>. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1031">
+        <label>constfn</label>
+        <link refid="classconstfn"/>
+        <childnode refid="1030" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1036">
+        <label>OMpmsm</label>
+        <link refid="classOMpmsm"/>
+        <childnode refid="1032" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1033">
+        <label>bilinfn</label>
+        <link refid="classbilinfn"/>
+        <childnode refid="1032" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1035">
+        <label>IMpmsmStat</label>
+        <link refid="classIMpmsmStat"/>
+        <childnode refid="1034" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1032">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="1030" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1037">
+        <label>linfn</label>
+        <link refid="classlinfn"/>
+        <childnode refid="1030" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1030">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="1034">
+        <label>IMpmsm</label>
+        <link refid="classIMpmsm"/>
+        <childnode refid="1032" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="113" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="113" bodyend="130"/>
+    <listofallmembers>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>fnc</scope><name>_dimy</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>fnc</scope><name>dimy</name></member>
+      <member refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c" prot="public" virt="virtual"><scope>fnc</scope><name>eval</name></member>
+      <member refid="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" virt="non-virtual"><scope>fnc</scope><name>fnc</name></member>
+      <member refid="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" virt="virtual"><scope>fnc</scope><name>~fnc</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__disp_8m.xml
===================================================================
--- /doc/xml/pmsm__disp_8m.xml (revision 187)
+++ /doc/xml/pmsm__disp_8m.xml (revision 187)
@@ -0,0 +1,274 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__disp_8m" kind="file">
+    <compoundname>pmsm_disp.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="pmsm__disp_8m_11bbd330f13d7f871eacc35dfadf81ba7" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>YLim</definition>
+        <argsstring></argsstring>
+        <name>YLim</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="4" bodyfile="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" bodystart="4" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__disp_8m_1cb405321a5c6ae16fef21290649f2666" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>__pad2__</definition>
+        <argsstring></argsstring>
+        <name>__pad2__</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="15" bodyfile="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__disp_8m_1785264f3b5971cce017ab5764ac64746" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>XLim</definition>
+        <argsstring></argsstring>
+        <name>XLim</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="21" bodyfile="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" bodystart="21" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__disp_8m_1a6f626203c740423c9dfcbbe727f90b4" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>__pad3__</definition>
+        <argsstring></argsstring>
+        <name>__pad3__</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="25" bodyfile="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" bodystart="25" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__disp_8m_131efc0dc08d8fb8f49bd2ed8eccbf97a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>itload</definition>
+        <argsstring>(&apos;../pmsm.it&apos;) figure(1)</argsstring>
+        <name>itload</name>
+        <param>
+          <type>&apos;../pmsm.it&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="2"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_1ef73b0e9020ccddd824d58b0cccdecd7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(xthM(1,:)&apos;) set(gca</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xthM(1,:)&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="4"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_1257c174d793e1ef02e8b1b947ba3f412" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold on</type>
+        <definition>hold on plot</definition>
+        <argsstring>([0, 10000], 0.1 *[1, 1],&apos;--&apos;) legend(&apos;\hat</argsstring>
+        <name>plot</name>
+        <param>
+          <type>0.1 *</type>
+          <array>[1, 1]</array>
+        </param>
+        <param>
+          <type>&apos;--&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="7" bodyfile="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" bodystart="6" bodyend="7"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_13876110abd6c00a2b71b0785a90c60db" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>2</type>
+        <definition>2 figure</definition>
+        <argsstring>()</argsstring>
+        <name>figure</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="13"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_190c0c138d198bffd9fa53c58fb06156f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>subplot</definition>
+        <argsstring>(2, 1, 1) plot(xth(3</argsstring>
+        <name>subplot</name>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="15"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_1b22c4bc1d89e04ed0cc14f92a187610c" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>xthE(3,:</type>
+        <definition>xthE(3,: plot:</definition>
+        <argsstring>(&apos;Simulated\omega&apos;,&apos;Estimated\omega using EKF &apos;, &apos;Estimated\omega using EKF-MPF &apos;legend)</argsstring>
+        <name>plot:</name>
+        <param>
+          <type>&apos;Simulated\omega&apos;</type>
+          <defname>legend</defname>
+        </param>
+        <param>
+          <type>&apos;Estimated\omega using <ref refid="classEKF" kindref="compound">EKF</ref> &apos;</type>
+        </param>
+        <param>
+          <type> &apos;Estimated\omega using <ref refid="classEKF" kindref="compound">EKF</ref>-<ref refid="classMPF" kindref="compound">MPF</ref> &apos;</type>
+          <declname>legend</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="19"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_14ca2a69442d7a076f5bcf57cc1ce811e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>xlabel</definition>
+        <argsstring>(&apos;time index&apos;)%set(gca</argsstring>
+        <name>xlabel</name>
+        <param>
+          <type>&apos;time index&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="21"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_1038fbf0acac0573ca289a613fb4f02c3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>subplot</definition>
+        <argsstring>(2, 1, 2) hold off plot(xth(4</argsstring>
+        <name>subplot</name>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <param>
+          <type>2</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="25"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__disp_8m_1997d2a603fa57d89159392e395889a80" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>xthE(4,:</type>
+        <definition>xthE(4,: plot:</definition>
+        <argsstring>(&apos;Simulated\upsilon&apos;,&apos;Estimated\upsilon using EKF &apos;, &apos;Estimated\upsilon using EKF-MPF &apos;legend)</argsstring>
+        <name>plot:</name>
+        <param>
+          <type>&apos;Simulated\upsilon&apos;</type>
+          <defname>legend</defname>
+        </param>
+        <param>
+          <type>&apos;Estimated\upsilon using <ref refid="classEKF" kindref="compound">EKF</ref> &apos;</type>
+        </param>
+        <param>
+          <type> &apos;Estimated\upsilon using <ref refid="classEKF" kindref="compound">EKF</ref>-<ref refid="classMPF" kindref="compound">MPF</ref> &apos;</type>
+          <declname>legend</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m" line="29"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">itload(</highlight><highlight class="stringliteral">&apos;../pmsm.it&apos;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">figure(1);</highlight></codeline>
+<codeline lineno="3"><highlight class="normal">plot(xthM(1,:)&apos;)</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">set(gca,&apos;YLim&apos;,[0,0.4])</highlight></codeline>
+<codeline lineno="5"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="6"><highlight class="normal">plot([0,10000],0.1*[1,1],&apos;--&apos;)</highlight></codeline>
+<codeline lineno="7"><highlight class="normal">legend(&apos;\hat{q}_t<sp/></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/><ref refid="classEKF" kindref="compound" tooltip="Extended Kalman Filter.">EKF</ref>-<ref refid="classPF" kindref="compound" tooltip="Trivial particle filter with proposal density equal to parameter evolution model...">PF</ref>&apos;,&apos;simulated<sp/>value&apos;)</highlight></codeline>
+<codeline lineno="8"><highlight class="normal">legend(&apos;expected<sp/>value<sp/>of<sp/>q_t<sp/>using<sp/><ref refid="classEKF" kindref="compound" tooltip="Extended Kalman Filter.">EKF</ref>-<ref refid="classPF" kindref="compound" tooltip="Trivial particle filter with proposal density equal to parameter evolution model...">PF</ref>&apos;,&apos;simulated<sp/>value&apos;)</highlight></codeline>
+<codeline lineno="9"><highlight class="normal">xlabel(&apos;time<sp/>index&apos;)</highlight></codeline>
+<codeline lineno="10"><highlight class="normal">%set(gcf,&apos;PaperPositionMode&apos;,&apos;auto&apos;);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">%print<sp/>-deps2<sp/>ekf</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal">figure(2);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal">subplot(2,1,1)</highlight></codeline>
+<codeline lineno="15"><highlight class="normal">plot(xth(3,:)&apos;,&apos;--&apos;)</highlight></codeline>
+<codeline lineno="16"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="17"><highlight class="normal">plot(xthE(3,:)&apos;,&apos;:&apos;)</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">plot(xthM(5,:)&apos;)</highlight></codeline>
+<codeline lineno="19"><highlight class="normal">legend(&apos;Simulated<sp/>\omega&apos;,&apos;Estimated<sp/>\omega<sp/>using<sp/><ref refid="classEKF" kindref="compound" tooltip="Extended Kalman Filter.">EKF</ref><sp/>&apos;,<sp/>&apos;Estimated<sp/>\omega<sp/>using<sp/>EKF-<ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF</ref><sp/>&apos;);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal">xlabel(&apos;time<sp/>index&apos;)</highlight></codeline>
+<codeline lineno="21"><highlight class="normal">%set(gca,&apos;XLim&apos;,[2300,3000]);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal">subplot(2,1,2)</highlight></codeline>
+<codeline lineno="24"><highlight class="normal">hold<sp/>off</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">plot(xth(4,:)&apos;,&apos;--&apos;)</highlight></codeline>
+<codeline lineno="26"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="27"><highlight class="normal">plot(xthE(4,:)&apos;,&apos;:&apos;)</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">plot(xthM(6,:)&apos;)</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">legend(&apos;Simulated<sp/>\upsilon&apos;,&apos;Estimated<sp/>\upsilon<sp/>using<sp/>EKF<sp/>&apos;,<sp/>&apos;Estimated<sp/>\upsilon<sp/>using<sp/>EKF-MPF<sp/>&apos;);</highlight></codeline>
+<codeline lineno="30"><highlight class="normal">xlabel(&apos;time<sp/>index&apos;)</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">%set(gca,&apos;XLim&apos;,[2300,3000]);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/pmsm_disp.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classconstfn.xml
===================================================================
--- /doc/xml/classconstfn.xml (revision 187)
+++ /doc/xml/classconstfn.xml (revision 187)
@@ -0,0 +1,131 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classconstfn" kind="class" prot="public">
+    <compoundname>constfn</compoundname>
+    <basecompoundref refid="classfnc" prot="public" virt="non-virtual">fnc</basecompoundref>
+    <includes refid="libFN_8h" local="no">libFN.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classconstfn_137ae33d7d3f177dd7a674ca1efadeaa2" prot="private" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec constfn::val</definition>
+        <argsstring></argsstring>
+        <name>val</name>
+        <briefdescription>
+<para>value of the function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="24" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classconstfn_10411f603cbf675f2bc04a8f85e4e3b52" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec constfn::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>inherited </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="29" bodyend="29"/>
+      </memberdef>
+      <memberdef kind="function" id="classconstfn_1d08acd7fac0ef3edfa59bbe48403f2bc" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>constfn::constfn</definition>
+        <argsstring>(const vec &amp;val0)</argsstring>
+        <name>constfn</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="31" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="31" bodyend="31"/>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">diffbifn::eval</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>class representing function <formula id="45">$f(x) = a$</formula>, here <computeroutput>rv</computeroutput> is empty </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="788">
+        <label>constfn</label>
+        <link refid="classconstfn"/>
+        <childnode refid="789" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="789">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="790">
+        <label>constfn</label>
+        <link refid="classconstfn"/>
+        <childnode refid="791" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="791">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="22" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="21" bodyend="32"/>
+    <listofallmembers>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>constfn</scope><name>_dimy</name></member>
+      <member refid="classconstfn_1d08acd7fac0ef3edfa59bbe48403f2bc" prot="public" virt="non-virtual"><scope>constfn</scope><name>constfn</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>constfn</scope><name>dimy</name></member>
+      <member refid="classconstfn_10411f603cbf675f2bc04a8f85e4e3b52" prot="public" virt="virtual"><scope>constfn</scope><name>eval</name></member>
+      <member refid="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" virt="non-virtual"><scope>constfn</scope><name>fnc</name></member>
+      <member refid="classconstfn_137ae33d7d3f177dd7a674ca1efadeaa2" prot="private" virt="non-virtual"><scope>constfn</scope><name>val</name></member>
+      <member refid="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" virt="virtual"><scope>constfn</scope><name>~fnc</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pwm_8h.xml
===================================================================
--- /doc/xml/pwm_8h.xml (revision 187)
+++ /doc/xml/pwm_8h.xml (revision 187)
@@ -0,0 +1,311 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pwm_8h" kind="file">
+    <compoundname>pwm.h</compoundname>
+    <includedby refid="pwm_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp</includedby>
+    <includedby refid="simul_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp</includedby>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="pwm_8h_17a680e4d7a5e9346e499145d368b3425" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ladeni_pila</definition>
+        <argsstring></argsstring>
+        <name>ladeni_pila</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="12" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="34" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pwm_8h_10395b9b0cf279728c73762ea8b38752d" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ladeni_ur</definition>
+        <argsstring></argsstring>
+        <name>ladeni_ur</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="13" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="34" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pwm_8h_17513b869bbedd804e88eacb29ce7ce65" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_init</definition>
+        <argsstring>(double Ucn, double fc, double DT)</argsstring>
+        <name>pwm_full_init</name>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="9"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8h_11f94887ac28aad48fbc0a58158d1bfc9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full</definition>
+        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *i, double fc, double *va_char, unsigned int pocet, double h)</argsstring>
+        <name>pwm_full</name>
+        <param>
+          <type>double *</type>
+          <declname>us</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Iz</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>i</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>va_char</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>pocet</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="10"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8h_1e1c2432789266f899d9b76a1116671ab" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new_init</definition>
+        <argsstring>(double h, double fc, double DT, int citac_init, int D_smer, int D_smer2)</argsstring>
+        <name>pwm_full_new_init</name>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>citac_init</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer2</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="15"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8h_1c56bd9c40bf614797dcf24aaa772cb13" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new</definition>
+        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *is, double *va_char, unsigned int pocet)</argsstring>
+        <name>pwm_full_new</name>
+        <param>
+          <type>double *</type>
+          <declname>us</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Iz</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>is</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>va_char</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>pocet</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="16"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8h_190a472aec25336c72743a4b078251e3d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new_init_3h</definition>
+        <argsstring>(double h, double fc, double DT, int citac_init, int D_smer, int D_smer2)</argsstring>
+        <name>pwm_full_new_init_3h</name>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>fc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>citac_init</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>D_smer2</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="19"/>
+      </memberdef>
+      <memberdef kind="function" id="pwm_8h_18dd985080259d21d1c0505551e3d187e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pwm_full_new_3h</definition>
+        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *is, double *va_char, unsigned int pocet, unsigned int mod)</argsstring>
+        <name>pwm_full_new_3h</name>
+        <param>
+          <type>double *</type>
+          <declname>us</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Iz</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>is</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>va_char</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>pocet</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>mod</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h" line="20"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*<sp/>modul<sp/>PWM<sp/>modulace</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>ubytky<sp/>a<sp/>mrtve<sp/>casy</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>shodna<sp/>verze<sp/>s<sp/>PWM_FULL_LC</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/><sp/>31.5.<sp/>2007</highlight></codeline>
+<codeline lineno="7"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*i,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_pila;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_ur;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vylepsena<sp/>PWM<sp/>...<sp/>mod=0<sp/>-<sp/>sinusova<sp/>PWM;<sp/>mod=1<sp/>-<sp/>PWM<sp/>se<sp/>3.<sp/>harmonickou</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/matrix_8h.xml
===================================================================
--- /doc/xml/matrix_8h.xml (revision 187)
+++ /doc/xml/matrix_8h.xml (revision 187)
@@ -0,0 +1,634 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="matrix_8h" kind="file">
+    <compoundname>matrix.h</compoundname>
+    <includedby refid="ekf_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp</includedby>
+    <includedby refid="ekf__obj_8h" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</includedby>
+    <includedby refid="matrix_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp</includedby>
+    <invincdepgraph>
+      <node id="761">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h</label>
+        <link refid="matrix.h"/>
+        <childnode refid="762" relation="include">
+        </childnode>
+      </node>
+      <node id="762">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+    </invincdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="matrix_8h_1dc97517fcf76dba18a7b7eadbf485783" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void madd</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columns)</argsstring>
+        <name>madd</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="16"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1eb7b1130cdfdad80c1f6ff08bdabcd9e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void maddD</definition>
+        <argsstring>(int *m1, int *m2, unsigned int minrowcol, unsigned int columns)</argsstring>
+        <name>maddD</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="19"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1fc147fb81a107ed3d11edce11680c73b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void msub</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columns)</argsstring>
+        <name>msub</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="22"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_10dd80217f9ca5906058c49a7383a4498" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmult</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmult</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="26"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1aad8e0b5c84bc2ef9c3442d7904493b7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultt</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmultt</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="30"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_180321ddd04c2295a7898aaac3e1f7ca7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmult15</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmult15</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="34"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_17b21ce82e50b9491450fbe8f0ba45830" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultt15</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmultt15</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="38"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1acfc7e3b42ad50e39b11f11753b749f6" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmult1530</definition>
+        <argsstring>(int *m1, long *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmult1530</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>long *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="42"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1ff076c1db8aa1be1797eede839441da8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDl</definition>
+        <argsstring>(int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDl</name>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="47"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1094cd71f8538a5e9375f0ab2759b688d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDl15</definition>
+        <argsstring>(int *DIAG, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDl15</name>
+        <param>
+          <type>int *</type>
+          <declname>DIAG</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="52"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1ececc21a99cfdc6238b5fbe1a0e61bb4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDr</definition>
+        <argsstring>(int *m1, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDr</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="57"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_1001bd19384a1c2f9fb3450c4f3476fa4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDr15</definition>
+        <argsstring>(int *m1, int *DIAG, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDr15</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>DIAG</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="62"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_10803daba60892817dd95383f10e2b501" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mtrans</definition>
+        <argsstring>(int *m1, int *result, unsigned int rows, unsigned int columns)</argsstring>
+        <name>mtrans</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="65"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_16281b33c494f55a0e1f56cc6ec226728" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void minv2</definition>
+        <argsstring>(int *matrix, long *result)</argsstring>
+        <name>minv2</name>
+        <param>
+          <type>int *</type>
+          <declname>matrix</declname>
+        </param>
+        <param>
+          <type>long *</type>
+          <declname>result</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="68"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_14cf0ac2cd86f2dfd9c984ae7599bad65" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void choice_P</definition>
+        <argsstring>(int *m, int *result, unsigned int columns)</argsstring>
+        <name>choice_P</name>
+        <param>
+          <type>int *</type>
+          <declname>m</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="70"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8h_117f6067daa5a602765f81590b8c69189" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void choice_x</definition>
+        <argsstring>(int *m, int *result)</argsstring>
+        <name>choice_x</name>
+        <param>
+          <type>int *</type>
+          <declname>m</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h" line="71"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Extended<sp/>Kalman<sp/>Filter</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Matrix<sp/>operations</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">15.3.<sp/>2008<sp/><sp/><sp/><sp/><sp/><sp/>Kompletni<sp/>kontrola<sp/>vypoctu<sp/>+<sp/>zamena<sp/>q15-&gt;int<sp/>a<sp/>q30-&gt;long</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Vsechny<sp/>meze<sp/>se<sp/>udavaji<sp/>ve<sp/>tvaru<sp/>(rozmer_matice<sp/>-<sp/>1),<sp/>abych<sp/>mel<sp/>ve<sp/>FOR<sp/>konstantni<sp/>horni<sp/>mez)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>addition<sp/>in<sp/>q15:<sp/>m1<sp/>+<sp/>m2<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>madd(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>add<sp/>diagonal<sp/>matrix<sp/>m2<sp/>to<sp/>matrix<sp/>m1<sp/>-<sp/>both<sp/>in<sp/>format<sp/>q15,<sp/>minrowcol<sp/>=<sp/>min(rows,<sp/>columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>maddD(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>substraction<sp/>in<sp/>q15:<sp/>m1<sp/>-<sp/>m2<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>msub(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiply<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*(m2[columnsx,columns]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>sum<sp/>is<sp/>in<sp/>q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15<sp/>(sum<sp/>is<sp/>in<sp/>q15):<sp/>m1[rows,columnsx]*(m2[columns,columnsx]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>-<sp/>Q15<sp/>*<sp/>Q30<sp/>format<sp/>-&gt;<sp/>RESULT<sp/>in<sp/>Q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult1530(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="45"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="50"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="55"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="60"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>transposition<sp/>in<sp/>q15:<sp/>m1.&apos;<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mtrans(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>[2,2]<sp/>inversion<sp/>in<sp/>q15:<sp/>inv(m1)<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>minv2(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*matrix,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*result);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_P(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_x(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEKFCh.xml
===================================================================
--- /doc/xml/classEKFCh.xml (revision 187)
+++ /doc/xml/classEKFCh.xml (revision 187)
@@ -0,0 +1,888 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEKFCh" kind="class" prot="public">
+    <compoundname>EKFCh</compoundname>
+    <basecompoundref refid="classKalmanCh" prot="public" virt="non-virtual">KalmanCh</basecompoundref>
+    <derivedcompoundref refid="classEKF__unQ" prot="public" virt="non-virtual">EKF_unQ</derivedcompoundref>
+    <derivedcompoundref refid="classEKF__unQ" prot="public" virt="non-virtual">EKF_unQ</derivedcompoundref>
+    <derivedcompoundref refid="classEKF__unQ" prot="public" virt="non-virtual">EKF_unQ</derivedcompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classEKFCh_1f4d595c2a674f8c6831eb1909bf21757" prot="private" static="no" mutable="no">
+        <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+        <definition>diffbifn* EKFCh::pfxu</definition>
+        <argsstring></argsstring>
+        <name>pfxu</name>
+        <briefdescription>
+<para>Internal Model f(x,u). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="219" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="219" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFCh_102503fee942fb63bfbe27354cdf8e734" prot="private" static="no" mutable="no">
+        <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+        <definition>diffbifn* EKFCh::phxu</definition>
+        <argsstring></argsstring>
+        <name>phxu</name>
+        <briefdescription>
+<para>Observation Model h(x,u). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="221" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="221" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEKFCh_1e9e39a9204db3dda88d06e47c1e19064" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>EKFCh::EKFCh</definition>
+        <argsstring>(RV rvx, RV rvy, RV rvu)</argsstring>
+        <name>EKFCh</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvy</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="224" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="165" bodyend="165"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFCh_10216bed270df59fe65d0d62d41f8257c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFCh::set_parameters</definition>
+        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const chmat Q0, const chmat R0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>pfxu</declname>
+        </param>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>phxu</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref></type>
+          <declname>Q0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref></type>
+          <declname>R0</declname>
+        </param>
+        <briefdescription>
+<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="226" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="167" bodyend="186"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; chmat &gt;::_mu</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; chmat &gt;::A</references>
+        <references refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" compoundref="libKF_8h" startline="79">Kalman&lt; chmat &gt;::B</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; chmat &gt;::C</references>
+        <references refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" compoundref="libKF_8h" startline="83">Kalman&lt; chmat &gt;::D</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; chmat &gt;::dimu</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; chmat &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void EKFCh::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classKalmanCh_1cca758192846940409822b9bd778d4e1">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="228" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="189" bodyend="236"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_1d422f51467c7a06174af2476d2826132" compoundref="libKF_8h" startline="95">Kalman&lt; chmat &gt;::_K</references>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; chmat &gt;::_mu</references>
+        <references refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" compoundref="libKF_8h" startline="103">Kalman&lt; chmat &gt;::_P</references>
+        <references refid="classKalman_145c9f928d2d62e0c884900fb3380f904" compoundref="libKF_8h" startline="99">Kalman&lt; chmat &gt;::_Ry</references>
+        <references refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" compoundref="libKF_8h" startline="97">Kalman&lt; chmat &gt;::_yp</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; chmat &gt;::A</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; chmat &gt;::C</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; chmat &gt;::dimu</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</references>
+        <references refid="classKalman_1e580ab06483952bd03f2e651763e184f" compoundref="libKF_8h" startline="92">Kalman&lt; chmat &gt;::fy</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" compoundref="libKF_8h" startline="137">KalmanCh::postA</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" compoundref="chmat_8cpp" startline="19" endline="19">chmat::to_mat</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanCh_192fb227287af05c9f0078d523c7c9793" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void KalmanCh::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const mat &amp;B0, const mat &amp;C0, const mat &amp;D0, const chmat &amp;R0, const chmat &amp;Q0)</argsstring>
+        <name>set_parameters</name>
+        <reimplements refid="classKalman_1239b28a0380946f5749b2f8d2807f93a">set_parameters</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>R0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+<para>Set parameters with check of relevance. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="143" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="118" bodyend="125"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; chmat &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void KalmanCh::set_est</definition>
+        <argsstring>(const vec &amp;mu0, const chmat &amp;P0)</argsstring>
+        <name>set_est</name>
+        <reimplements refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0">set_est</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>Set estimate values, used e.g. in initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="144" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="144" bodyend="146"/>
+        <references refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" compoundref="libKF_8h" startline="90">Kalman&lt; chmat &gt;::est</references>
+        <references refid="classenorm_11394a65caa6e00d42e00cc99b12227af" compoundref="libEF_8h" startline="348" endline="352">enorm&lt; sq_T &gt;::set_parameters</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; Kalman&lt; chmat  &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="123" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; Kalman&lt; chmat  &gt;::__K</definition>
+        <argsstring>()</argsstring>
+        <name>__K</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="125" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec Kalman&lt; chmat  &gt;::_dP</definition>
+        <argsstring>()</argsstring>
+        <name>_dP</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="127" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanCh::preA</definition>
+        <argsstring></argsstring>
+        <name>preA</name>
+        <briefdescription>
+<para>pre array (triangular matrix) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="135" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="135" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanCh::postA</definition>
+        <argsstring></argsstring>
+        <name>postA</name>
+        <briefdescription>
+<para>post array (triangular matrix) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="137" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="137" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; chmat  &gt;::rvy</definition>
+        <argsstring></argsstring>
+        <name>rvy</name>
+        <briefdescription>
+<para>Indetifier of output rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; chmat  &gt;::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indetifier of exogeneous rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="69" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache of rv.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>cache of rvy.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache of rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="75" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="77" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="79" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+<para>Matrix C. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="81" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Matrix D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="83" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref></type>
+        <definition>chmat  Kalman&lt; chmat  &gt;::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+<para>Matrix Q in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">EKF_unQ::condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref></type>
+        <definition>chmat  Kalman&lt; chmat  &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Matrix R in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="87" bodyend="-1"/>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classchmat" kindref="compound">chmat</ref> &gt;</type>
+        <definition>enorm&lt;chmat &gt; Kalman&lt; chmat  &gt;::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density on $x_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="90" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" compoundref="libKF_8h" startline="144" endline="146">KalmanCh::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classchmat" kindref="compound">chmat</ref> &gt;</type>
+        <definition>enorm&lt;chmat &gt; Kalman&lt; chmat  &gt;::fy</definition>
+        <argsstring></argsstring>
+        <name>fy</name>
+        <briefdescription>
+<para>preditive density on $y_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="92" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+<para>placeholder for <ref refid="classKalman" kindref="compound">Kalman</ref> gain </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="95" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; chmat  &gt;::_yp</definition>
+        <argsstring></argsstring>
+        <name>_yp</name>
+        <briefdescription>
+<para>cache of fy.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="97" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; Kalman&lt; chmat  &gt;::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+<para>cache of fy.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; chmat  &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>cache of est.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="101" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; Kalman&lt; chmat  &gt;::_P</definition>
+        <argsstring></argsstring>
+        <name>_P</name>
+        <briefdescription>
+<para>cache of est.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="103" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> Filter in Square root. </para>    </briefdescription>
+    <detaileddescription>
+<para>An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="922">
+        <label>EKFCh</label>
+        <link refid="classEKFCh"/>
+        <childnode refid="923" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="925">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="927">
+        <label>EKF_unQ</label>
+        <link refid="classEKF__unQ"/>
+        <childnode refid="922" relation="public-inheritance">
+        </childnode>
+        <childnode refid="922" relation="public-inheritance">
+        </childnode>
+        <childnode refid="922" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="923">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="924" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="924">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="925" relation="public-inheritance">
+        </childnode>
+        <childnode refid="926" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="926">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="925" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="938">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="936" relation="public-inheritance">
+        </childnode>
+        <childnode refid="939" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="928">
+        <label>EKFCh</label>
+        <link refid="classEKFCh"/>
+        <childnode refid="929" relation="public-inheritance">
+        </childnode>
+        <childnode refid="941" relation="usage">
+          <edgelabel>pfxu
+phxu</edgelabel>
+        </childnode>
+      </node>
+      <node id="939">
+        <label>sq_T</label>
+      </node>
+      <node id="937">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="932" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="931">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="932" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="932">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="934">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="929">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="930" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="941">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="942" relation="public-inheritance">
+        </childnode>
+        <childnode refid="932" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="930">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="931" relation="public-inheritance">
+        </childnode>
+        <childnode refid="933" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="932" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+        <childnode refid="935" relation="usage">
+          <edgelabel>est
+fy</edgelabel>
+        </childnode>
+        <childnode refid="940" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="935">
+        <label>enorm&lt; chmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="936" relation="public-inheritance">
+        </childnode>
+        <childnode refid="933" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="938" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="940">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="931" relation="public-inheritance">
+        </childnode>
+        <childnode refid="939" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="932" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+      </node>
+      <node id="933">
+        <label>chmat</label>
+        <link refid="classchmat"/>
+        <childnode refid="934" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="942">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="936">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="937" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="217" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="217" bodyend="229"/>
+    <listofallmembers>
+      <member refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>__K</name></member>
+      <member refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>_dP</name></member>
+      <member refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" virt="virtual"><scope>EKFCh</scope><name>_epdf</name></member>
+      <member refid="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>_ll</name></member>
+      <member refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>_mu</name></member>
+      <member refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>_P</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>_rv</name></member>
+      <member refid="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>_Ry</name></member>
+      <member refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>_yp</name></member>
+      <member refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>A</name></member>
+      <member refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>B</name></member>
+      <member refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" prot="public" virt="virtual"><scope>EKFCh</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>EKFCh</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>BM</name></member>
+      <member refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>C</name></member>
+      <member refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>D</name></member>
+      <member refid="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>dimu</name></member>
+      <member refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>dimx</name></member>
+      <member refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>dimy</name></member>
+      <member refid="classEKFCh_1e9e39a9204db3dda88d06e47c1e19064" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>EKFCh</name></member>
+      <member refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>evalll</name></member>
+      <member refid="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>fy</name></member>
+      <member refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>Kalman</name></member>
+      <member refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>Kalman</name></member>
+      <member refid="classKalmanCh_1d11f110cccaa66177514632d37b086bb" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>KalmanCh</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>ll</name></member>
+      <member refid="classEKFCh_1f4d595c2a674f8c6831eb1909bf21757" prot="private" virt="non-virtual"><scope>EKFCh</scope><name>pfxu</name></member>
+      <member refid="classEKFCh_102503fee942fb63bfbe27354cdf8e734" prot="private" virt="non-virtual"><scope>EKFCh</scope><name>phxu</name></member>
+      <member refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>postA</name></member>
+      <member refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>preA</name></member>
+      <member refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>Q</name></member>
+      <member refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>rv</name></member>
+      <member refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>rvu</name></member>
+      <member refid="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" virt="non-virtual"><scope>EKFCh</scope><name>rvy</name></member>
+      <member refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>set_est</name></member>
+      <member refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" prot="public" virt="non-virtual"><scope>EKFCh</scope><name>set_parameters</name></member>
+      <member refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" prot="public" virt="non-virtual" ambiguityscope="KalmanCh::"><scope>EKFCh</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKFCh</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classdirfilelog.xml
===================================================================
--- /doc/xml/classdirfilelog.xml (revision 187)
+++ /doc/xml/classdirfilelog.xml (revision 187)
@@ -0,0 +1,389 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classdirfilelog" kind="class" prot="public">
+    <compoundname>dirfilelog</compoundname>
+    <basecompoundref refid="classmemlog" prot="public" virt="non-virtual">memlog</basecompoundref>
+    <includes refid="loggers_8h" local="no">loggers.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" prot="protected" static="no" mutable="no">
+        <type>string</type>
+        <definition>string dirfilelog::dirname</definition>
+        <argsstring></argsstring>
+        <name>dirname</name>
+        <briefdescription>
+<para>name of the directory </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="107" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="107" bodyend="-1"/>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">init</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" prot="protected" static="no" mutable="no">
+        <type>Array&lt; string &gt;</type>
+        <definition>Array&lt;string&gt; dirfilelog::scalarnames</definition>
+        <argsstring></argsstring>
+        <name>scalarnames</name>
+        <briefdescription>
+<para>Automatically generated. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="109" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="109" bodyend="-1"/>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">init</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmemlog_14195f322897ededdac66c404b848ced3" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int memlog::maxlen</definition>
+        <argsstring></argsstring>
+        <name>maxlen</name>
+        <briefdescription>
+<para>Maximum length of vectors stored in memory. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">memlog::init</referencedby>
+        <referencedby refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" compoundref="loggers_8h" startline="87" endline="87">memlog::step</referencedby>
+        <referencedby refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" compoundref="loggers_8cpp" startline="117" endline="126">step</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmemlog_13410b4c002636508c43ddcba8d394520" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int memlog::ind</definition>
+        <argsstring></argsstring>
+        <name>ind</name>
+        <briefdescription>
+<para>Currect record to be written. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" compoundref="loggers_8cpp" startline="128" endline="131">finalize</referencedby>
+        <referencedby refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" compoundref="loggers_8h" startline="88" endline="90">memlog::logit</referencedby>
+        <referencedby refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" compoundref="loggers_8h" startline="87" endline="87">memlog::step</referencedby>
+        <referencedby refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" compoundref="loggers_8cpp" startline="117" endline="126">step</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" prot="protected" static="no" mutable="no">
+        <type>Array&lt; mat &gt;</type>
+        <definition>Array&lt;mat&gt; memlog::vectors</definition>
+        <argsstring></argsstring>
+        <name>vectors</name>
+        <briefdescription>
+<para>Storage. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="75" bodyend="-1"/>
+        <referencedby refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">memlog::init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">memlog::itsave</referencedby>
+        <referencedby refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" compoundref="loggers_8h" startline="88" endline="90">memlog::logit</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classlogger_183eea0cf4fbca59474d015f751f128a7" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classRV" kindref="compound">RV</ref> &gt;</type>
+        <definition>Array&lt;RV&gt; logger::entries</definition>
+        <argsstring></argsstring>
+        <name>entries</name>
+        <briefdescription>
+<para>RVs of all logged variables. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="31" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="31" bodyend="-1"/>
+        <referencedby refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" compoundref="loggers_8h" startline="39" endline="45">logger::add</referencedby>
+        <referencedby refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">memlog::init</referencedby>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">memlog::itsave</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" prot="protected" static="no" mutable="no">
+        <type>Array&lt; string &gt;</type>
+        <definition>Array&lt;string&gt; logger::names</definition>
+        <argsstring></argsstring>
+        <name>names</name>
+        <briefdescription>
+<para>Names of logged quantities, e.g. names of algorithm variants. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="33" bodyend="-1"/>
+        <referencedby refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" compoundref="loggers_8h" startline="39" endline="45">logger::add</referencedby>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">memlog::itsave</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classdirfilelog_1802eeb6fc4ebf11d97638fd5dc651c68" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>dirfilelog::dirfilelog</definition>
+        <argsstring>(std::string dirname0, int maxlen0)</argsstring>
+        <name>dirfilelog</name>
+        <param>
+          <type>std::string</type>
+          <declname>dirname0</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>maxlen0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>dirname0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>name of the directory in which to store the results </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>maxlen0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>length of the memory buffers, when full the buffers will be dumped to HDD and returned to the beginning. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="114" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="114" bodyend="114"/>
+      </memberdef>
+      <memberdef kind="function" id="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void dirfilelog::init</definition>
+        <argsstring>()</argsstring>
+        <name>init</name>
+        <reimplements refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47">init</reimplements>
+        <briefdescription>
+<para>Initialize storage. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.cpp" bodystart="25" bodyend="74"/>
+        <references refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" compoundref="loggers_8h" startline="107">dirname</references>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">logger::entries</references>
+        <references refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">memlog::init</references>
+        <references refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" compoundref="loggers_8h" startline="33">logger::names</references>
+        <references refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" compoundref="loggers_8h" startline="109">scalarnames</references>
+        <references refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void dirfilelog::step</definition>
+        <argsstring>()</argsstring>
+        <name>step</name>
+        <reimplements refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804">step</reimplements>
+        <briefdescription>
+<para>Shifts storage position for another time step. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="117" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.cpp" bodystart="117" bodyend="126"/>
+        <references refid="classmemlog_13410b4c002636508c43ddcba8d394520" compoundref="loggers_8h" startline="73">memlog::ind</references>
+        <references refid="classmemlog_14195f322897ededdac66c404b848ced3" compoundref="loggers_8h" startline="71">memlog::maxlen</references>
+        <references refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void dirfilelog::finalize</definition>
+        <argsstring>()</argsstring>
+        <name>finalize</name>
+        <reimplements refid="classlogger_151c1aa8a84a14097b51607a187ae3617">finalize</reimplements>
+        <briefdescription>
+<para>Finalize storing information. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="118" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.cpp" bodystart="128" bodyend="131"/>
+        <references refid="classmemlog_13410b4c002636508c43ddcba8d394520" compoundref="loggers_8h" startline="73">memlog::ind</references>
+        <references refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">write_buffers</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void dirfilelog::write_buffers</definition>
+        <argsstring>(int Len)</argsstring>
+        <name>write_buffers</name>
+        <param>
+          <type>int</type>
+          <declname>Len</declname>
+        </param>
+        <briefdescription>
+<para>Write memory storage to disk. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>Len</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>length of buffer to be written, if 0 the file is truncated at 0. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="122" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.cpp" bodystart="77" bodyend="115"/>
+        <references refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" compoundref="loggers_8h" startline="107">dirname</references>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">logger::entries</references>
+        <references refid="classmemlog_14195f322897ededdac66c404b848ced3" compoundref="loggers_8h" startline="71">memlog::maxlen</references>
+        <references refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" compoundref="loggers_8h" startline="109">scalarnames</references>
+        <references refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" compoundref="loggers_8h" startline="75">memlog::vectors</references>
+        <referencedby refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" compoundref="loggers_8cpp" startline="128" endline="131">finalize</referencedby>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">init</referencedby>
+        <referencedby refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" compoundref="loggers_8cpp" startline="117" endline="126">step</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmemlog_18d2feeb826f7249e9104d616b5a67144" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void memlog::logit</definition>
+        <argsstring>(int id, vec v)</argsstring>
+        <name>logit</name>
+        <reimplements refid="classlogger_1efb5a59cb329f58810b09bd9cc270b78">logit</reimplements>
+        <param>
+          <type>int</type>
+          <declname>id</declname>
+        </param>
+        <param>
+          <type>vec</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>log this vector </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="88" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="88" bodyend="90"/>
+        <references refid="classmemlog_13410b4c002636508c43ddcba8d394520" compoundref="loggers_8h" startline="73">memlog::ind</references>
+        <references refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" compoundref="loggers_8h" startline="75">memlog::vectors</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmemlog_165571ebbb16577b5211adbb27baf769c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void memlog::itsave</definition>
+        <argsstring>(const char *fname)</argsstring>
+        <name>itsave</name>
+        <param>
+          <type>const char *</type>
+          <declname>fname</declname>
+        </param>
+        <briefdescription>
+<para>Save values into an itfile named after <computeroutput>fname</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.cpp" bodystart="10" bodyend="23"/>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">logger::entries</references>
+        <references refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" compoundref="loggers_8h" startline="33">logger::names</references>
+        <references refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" compoundref="loggers_8h" startline="75">memlog::vectors</references>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>int</type>
+        <definition>virtual int logger::add</definition>
+        <argsstring>(const RV &amp;rv, string name=&quot;&quot;)</argsstring>
+        <name>add</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>name</declname>
+          <defval>&quot;&quot;</defval>
+        </param>
+        <briefdescription>
+<para>returns an identifier which will be later needed for calling the log() function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="39" bodyend="45"/>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">logger::entries</references>
+        <references refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" compoundref="loggers_8h" startline="33">logger::names</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Logging into dirfile with buffer in memory. </para>    </briefdescription>
+    <detaileddescription>
+<para>Dirfile is a special format used by the kst program. See documentation of kst for description.</para><para>This format is used to store scalars, hence multivariate RVs must be separated. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="802">
+        <label>memlog</label>
+        <link refid="classmemlog"/>
+        <childnode refid="803" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="801">
+        <label>dirfilelog</label>
+        <link refid="classdirfilelog"/>
+        <childnode refid="802" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="803">
+        <label>logger</label>
+        <link refid="classlogger"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="805">
+        <label>memlog</label>
+        <link refid="classmemlog"/>
+        <childnode refid="806" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="804">
+        <label>dirfilelog</label>
+        <link refid="classdirfilelog"/>
+        <childnode refid="805" relation="public-inheritance">
+        </childnode>
+        <childnode refid="807" relation="usage">
+          <edgelabel>dirname</edgelabel>
+        </childnode>
+      </node>
+      <node id="807">
+        <label>string</label>
+      </node>
+      <node id="806">
+        <label>logger</label>
+        <link refid="classlogger"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="103" bodyend="123"/>
+    <listofallmembers>
+      <member refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" prot="public" virt="virtual"><scope>dirfilelog</scope><name>add</name></member>
+      <member refid="classdirfilelog_1802eeb6fc4ebf11d97638fd5dc651c68" prot="public" virt="non-virtual"><scope>dirfilelog</scope><name>dirfilelog</name></member>
+      <member refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" prot="protected" virt="non-virtual"><scope>dirfilelog</scope><name>dirname</name></member>
+      <member refid="classlogger_183eea0cf4fbca59474d015f751f128a7" prot="protected" virt="non-virtual"><scope>dirfilelog</scope><name>entries</name></member>
+      <member refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" prot="public" virt="virtual"><scope>dirfilelog</scope><name>finalize</name></member>
+      <member refid="classmemlog_13410b4c002636508c43ddcba8d394520" prot="protected" virt="non-virtual"><scope>dirfilelog</scope><name>ind</name></member>
+      <member refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" prot="public" virt="non-virtual"><scope>dirfilelog</scope><name>init</name></member>
+      <member refid="classmemlog_165571ebbb16577b5211adbb27baf769c" prot="public" virt="non-virtual"><scope>dirfilelog</scope><name>itsave</name></member>
+      <member refid="classlogger_14f753a510e00c892b38e95c2284363a6" prot="public" virt="non-virtual"><scope>dirfilelog</scope><name>logger</name></member>
+      <member refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" prot="public" virt="virtual"><scope>dirfilelog</scope><name>logit</name></member>
+      <member refid="classmemlog_14195f322897ededdac66c404b848ced3" prot="protected" virt="non-virtual"><scope>dirfilelog</scope><name>maxlen</name></member>
+      <member refid="classmemlog_1e056e819c5a65d4431bfe7955b1efe97" prot="public" virt="non-virtual"><scope>dirfilelog</scope><name>memlog</name></member>
+      <member refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" prot="protected" virt="non-virtual"><scope>dirfilelog</scope><name>names</name></member>
+      <member refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" prot="protected" virt="non-virtual"><scope>dirfilelog</scope><name>scalarnames</name></member>
+      <member refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" prot="public" virt="virtual"><scope>dirfilelog</scope><name>step</name></member>
+      <member refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" prot="protected" virt="non-virtual"><scope>dirfilelog</scope><name>vectors</name></member>
+      <member refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" prot="public" virt="non-virtual"><scope>dirfilelog</scope><name>write_buffers</name></member>
+      <member refid="classlogger_192c63a0a87392c62b9ed3c00faa9d5df" prot="public" virt="virtual"><scope>dirfilelog</scope><name>~logger</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testUI_8cpp.xml
===================================================================
--- /doc/xml/testUI_8cpp.xml (revision 187)
+++ /doc/xml/testUI_8cpp.xml (revision 187)
@@ -0,0 +1,286 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testUI_8cpp" kind="file">
+    <compoundname>testUI.cpp</compoundname>
+    <includes refid="userinfo_8h" local="yes">userinfo.h</includes>
+    <incdepgraph>
+      <node id="938">
+        <label>xercesc/framework/LocalFileInputSource.hpp</label>
+      </node>
+      <node id="936">
+        <label>xercesc/util/XMLString.hpp</label>
+      </node>
+      <node id="940">
+        <label>xercesc/parsers/XercesDOMParser.hpp</label>
+      </node>
+      <node id="929">
+        <label>string</label>
+      </node>
+      <node id="931">
+        <label>map</label>
+      </node>
+      <node id="925">
+        <label>userinfo.h</label>
+        <link refid="userinfo_8h-source"/>
+        <childnode refid="926" relation="include">
+        </childnode>
+        <childnode refid="927" relation="include">
+        </childnode>
+        <childnode refid="928" relation="include">
+        </childnode>
+        <childnode refid="929" relation="include">
+        </childnode>
+        <childnode refid="930" relation="include">
+        </childnode>
+        <childnode refid="931" relation="include">
+        </childnode>
+        <childnode refid="932" relation="include">
+        </childnode>
+        <childnode refid="933" relation="include">
+        </childnode>
+        <childnode refid="934" relation="include">
+        </childnode>
+        <childnode refid="935" relation="include">
+        </childnode>
+        <childnode refid="936" relation="include">
+        </childnode>
+        <childnode refid="937" relation="include">
+        </childnode>
+        <childnode refid="938" relation="include">
+        </childnode>
+        <childnode refid="939" relation="include">
+        </childnode>
+        <childnode refid="940" relation="include">
+        </childnode>
+      </node>
+      <node id="930">
+        <label>typeinfo</label>
+      </node>
+      <node id="933">
+        <label>vector</label>
+      </node>
+      <node id="932">
+        <label>utility</label>
+      </node>
+      <node id="926">
+        <label>sstream</label>
+      </node>
+      <node id="927">
+        <label>iostream</label>
+      </node>
+      <node id="924">
+        <label>work/git/mixpp/tests/testUI.cpp</label>
+        <link refid="testUI.cpp"/>
+        <childnode refid="925" relation="include">
+        </childnode>
+      </node>
+      <node id="939">
+        <label>xercesc/dom/DOMWriter.hpp</label>
+      </node>
+      <node id="937">
+        <label>xercesc/framework/LocalFileFormatTarget.hpp</label>
+      </node>
+      <node id="934">
+        <label>xercesc/dom/DOM.hpp</label>
+      </node>
+      <node id="935">
+        <label>xercesc/util/PlatformUtils.hpp</label>
+      </node>
+      <node id="928">
+        <label>stdio.h</label>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classTransport" prot="public">Transport</innerclass>
+    <innerclass refid="classCar" prot="public">Car</innerclass>
+    <innerclass refid="classBike" prot="public">Bike</innerclass>
+    <innerclass refid="classCarUI" prot="public">CarUI</innerclass>
+    <innerclass refid="classBikeUI" prot="public">BikeUI</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testUI_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="135" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="134" bodyend="173"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&quot;userinfo.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="keyword">class<sp/></highlight><highlight class="normal">Transport</highlight></codeline>
+<codeline lineno="8"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>year;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>manufacturer;</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Transport(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>year,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>manufacturer<sp/>)</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>year(<sp/>year<sp/>),<sp/>manufacturer(<sp/>manufacturer<sp/>)</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ToString()<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">Car<sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/>Transport</highlight></codeline>
+<codeline lineno="22"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>kilometers;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Car(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>year,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>manufacturer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>kilometers<sp/>)</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>Transport(<sp/>year,<sp/>manufacturer<sp/>),<sp/>kilometers(<sp/>kilometers<sp/>)</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ToString()</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;a<sp/>car<sp/>made<sp/>in<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>year<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;<sp/>by<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>manufacturer<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;,<sp/>having<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>kilometers<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;<sp/>kilometers<sp/>on<sp/>the<sp/>clock.&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="35"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">Bike<sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/>Transport</highlight></codeline>
+<codeline lineno="38"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>electricLights;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Bike(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>age,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>manufacturer,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>electricLights<sp/>)</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>Transport(<sp/>age,<sp/>manufacturer<sp/>),<sp/>electricLights(<sp/>electricLights<sp/>)</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ToString()</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;a<sp/>bike<sp/>made<sp/>in<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>year<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;<sp/>by<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>manufacturer;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>electricLights<sp/>)<sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;<sp/>with<sp/>electric<sp/>lights<sp/>included&quot;</highlight><highlight class="normal">;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>endl;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="53"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">CarUI:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo</ref>&lt;Car&gt;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;int&gt;<sp/>year;<sp/></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;int&gt;<sp/>kilometers;<sp/></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;string&gt;<sp/>manufacturer;<sp/></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>CarUI()</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo</ref>&lt;Car&gt;(</highlight><highlight class="stringliteral">&quot;car&quot;</highlight><highlight class="normal">),</highlight></codeline>
+<codeline lineno="69"><highlight class="normal">#pragma<sp/>warning(push)</highlight></codeline>
+<codeline lineno="70"><highlight class="normal">#pragma<sp/>warning(disable:<sp/>4355)</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>year(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;year&quot;</highlight><highlight class="normal">,<sp/>0<sp/>),</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kilometers(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;kilometers&quot;</highlight><highlight class="normal">,<sp/>0<sp/>),</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>manufacturer(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;manufacturer&quot;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&quot;unknown&quot;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="74"><highlight class="normal">#<sp/>pragma<sp/>warning(pop)</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Car*<sp/>AssemblyInstance()</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>assembly<sp/>new<sp/>instance</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>Car(<sp/>year.value,<sp/>manufacturer.value,<sp/>kilometers.value<sp/>);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyInstance(Car&amp;<sp/>instance)</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>year.value<sp/>=<sp/>instance.year;</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>manufacturer.value<sp/>=<sp/>instance.manufacturer;</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kilometers.value<sp/>=<sp/>instance.kilometers;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="92"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;&gt;<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;Car&gt;</ref>&amp;<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;Car&gt;::instance</ref><sp/>=<sp/>CarUI(<sp/>);</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">BikeUI:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo</ref>&lt;Bike&gt;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;int&gt;<sp/>year;<sp/></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;bool&gt;<sp/>lights;<sp/></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;string&gt;<sp/>manufacturer;<sp/></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BikeUI()</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo</ref>&lt;Bike&gt;(</highlight><highlight class="stringliteral">&quot;bike&quot;</highlight><highlight class="normal">),</highlight></codeline>
+<codeline lineno="106"><highlight class="normal">#pragma<sp/>warning(push)</highlight></codeline>
+<codeline lineno="107"><highlight class="normal">#pragma<sp/>warning(disable:<sp/>4355)</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>year(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;year&quot;</highlight><highlight class="normal">,<sp/>0<sp/>),</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lights(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;electric<sp/>lights&quot;</highlight><highlight class="normal">,<sp/>false<sp/>),<sp/></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>manufacturer(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;manufacturer&quot;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&quot;unknown&quot;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="111"><highlight class="normal">#pragma<sp/>warning(pop)</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Bike*<sp/>AssemblyInstance()</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>assembly<sp/>new<sp/>instance</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>Bike(<sp/>year.value,<sp/>manufacturer.value,<sp/>lights.value<sp/>);</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>DisassemblyInstance(Bike&amp;<sp/>instance)</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>year.value<sp/>=<sp/>instance.year;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>manufacturer.value<sp/>=<sp/>instance.manufacturer;</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lights.value<sp/>=<sp/>instance.electricLights;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="129"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;&gt;<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;Bike&gt;</ref>&amp;<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;Bike&gt;::instance</ref><sp/>=<sp/>BikeUI(<sp/>);</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()</highlight></codeline>
+<codeline lineno="135"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Car<sp/>audi(<sp/>1998,<sp/></highlight><highlight class="stringliteral">&quot;audi&quot;</highlight><highlight class="normal">,<sp/>25000);</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Car<sp/>liaz(<sp/>1992,<sp/></highlight><highlight class="stringliteral">&quot;liaz&quot;</highlight><highlight class="normal">,<sp/>1555000);</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Bike<sp/>author(<sp/>1996,<sp/></highlight><highlight class="stringliteral">&quot;author&quot;</highlight><highlight class="normal">,<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRootElement" kindref="compound" tooltip="This class serves to load and/or save DOMElements into/from files stored on a hard-disk...">RootElement</ref><sp/>root(</highlight><highlight class="stringliteral">&quot;transport.xml&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>!<ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">UserInfo::Disassembly</ref>(<sp/>audi,<sp/>root,<sp/></highlight><highlight class="stringliteral">&quot;pepikovo&quot;</highlight><highlight class="normal">)<sp/></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>||<sp/>!<ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">UserInfo::Disassembly</ref>(<sp/>liaz,<sp/>root,<sp/></highlight><highlight class="stringliteral">&quot;jardovo&quot;</highlight><highlight class="normal">)<sp/></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>||<sp/>!<ref refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kindref="member">UserInfo::Disassembly</ref>(<sp/>author,<sp/>root,<sp/></highlight><highlight class="stringliteral">&quot;ondrejovo&quot;</highlight><highlight class="normal">)<sp/><sp/>)</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;there<sp/>was<sp/>some<sp/>error!&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>getchar();</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>root.Save();</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;all<sp/>the<sp/>transport<sp/>means<sp/>were<sp/>saved<sp/>correctly&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>getchar();</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>whichone<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;pepikovo&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>whichone<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;jardovo&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>whichone<sp/>=<sp/>&quot;ondrejovo&quot;;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>root.Load();</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Transport<sp/>*loaded<sp/>=<sp/>UserInfo::Assembly&lt;Transport&gt;(<sp/>root,whichone);</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>loaded<sp/>)</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>loaded-&gt;ToString();</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;there<sp/>was<sp/>some<sp/>error<sp/>during<sp/>loading!&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>getchar();<sp/></highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="173"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/namespacestd.xml
===================================================================
--- /doc/xml/namespacestd.xml (revision 187)
+++ /doc/xml/namespacestd.xml (revision 187)
@@ -0,0 +1,11 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="namespacestd" kind="namespace">
+    <compoundname>std</compoundname>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/osutils.h" line="14"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libDC_8cpp.xml
===================================================================
--- /doc/xml/libDC_8cpp.xml (revision 187)
+++ /doc/xml/libDC_8cpp.xml (revision 187)
@@ -0,0 +1,531 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libDC_8cpp" kind="file">
+    <compoundname>libDC.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libDC_8h" local="yes">libDC.h</includes>
+    <incdepgraph>
+      <node id="300">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="299">
+        <label>work/git/mixpp/bdm/math/libDC.cpp</label>
+        <link refid="libDC.cpp"/>
+        <childnode refid="300" relation="include">
+        </childnode>
+        <childnode refid="301" relation="include">
+        </childnode>
+      </node>
+      <node id="301">
+        <label>libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="300" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="libDC_8cpp_1a797c793c4a08bf1b05d8259dfb2c676" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const fsqmat &amp;ld)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>ld</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" line="26" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="26" bodyend="29"/>
+      </memberdef>
+      <memberdef kind="function" id="libDC_8cpp_13fdcec63285777e273bd639b0023d4bb" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const ldmat &amp;ld)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>ld</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" line="74" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="74" bodyend="78"/>
+      </memberdef>
+      <memberdef kind="function" id="libDC_8cpp_16715d039e6d5d97005cf9e2522dfa474" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>mat</type>
+        <definition>mat ltuinv</definition>
+        <argsstring>(const mat &amp;L)</argsstring>
+        <name>ltuinv</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>L</declname>
+        </param>
+        <briefdescription>
+<para>Auxiliary function ltuinv; inversion of a triangular matrix;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" line="301" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="301" bodyend="320"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">ldmat::L</references>
+      </memberdef>
+      <memberdef kind="function" id="libDC_8cpp_14ed56e73b49db8e7f4a63fa926a8dca4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void dydr</definition>
+        <argsstring>(double *r, double *f, double *Dr, double *Df, double *R, int jl, int jh, double *kr, int m, int mx)</argsstring>
+        <name>dydr</name>
+        <param>
+          <type>double *</type>
+          <declname>r</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>f</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Dr</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Df</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>R</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>jl</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>jh</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>kr</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>m</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>mx</declname>
+        </param>
+        <briefdescription>
+<para>Auxiliary function dydr; dyadic reduction. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" line="352" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="322" bodyend="382"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libDC_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">libDC.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8" refid="classfsqmat_1b36530e155667fe9f1bd58394e50c65a" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1b36530e155667fe9f1bd58394e50c65a" kindref="member">fsqmat::opupdt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>)<sp/>{<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>+=outer_product<sp/>(<sp/>v,v*w<sp/>);};</highlight></codeline>
+<codeline lineno="9" refid="classfsqmat_1cedf4f048309056f4262c930914dfda8" refkind="member"><highlight class="normal">mat<sp/><ref refid="classfsqmat_1cedf4f048309056f4262c930914dfda8" kindref="member" tooltip="Conversion to full matrix.">fsqmat::to_mat</ref>()<sp/><sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>;};</highlight></codeline>
+<codeline lineno="10" refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">fsqmat::mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C)<sp/>{<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>=C<sp/>*<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>*C.T();};</highlight></codeline>
+<codeline lineno="11" refid="classfsqmat_192052a8adc2054b63e42d1373d145c89" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_192052a8adc2054b63e42d1373d145c89" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">fsqmat::mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C)<sp/>{<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>=C.T()<sp/>*<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>*C;};</highlight></codeline>
+<codeline lineno="12" refid="classfsqmat_1d4eddc3743c8865cc5ed92d14de0e3e3" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">fsqmat::mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;U)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/>U.<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref><sp/>=<sp/>(<sp/>C<sp/>*(<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>*C.T())<sp/>);};</highlight></codeline>
+<codeline lineno="13" refid="classfsqmat_1ae4949ad2a32553c7fa04d6d1483770a" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_192052a8adc2054b63e42d1373d145c89" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">fsqmat::mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;U)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{<sp/>U.<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref><sp/>=<sp/>(<sp/>C.T()<sp/>*(<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>*C)<sp/>);};</highlight></codeline>
+<codeline lineno="14" refid="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" kindref="member" tooltip="Matrix inversion preserving the chosen form.">fsqmat::inv</ref><sp/>(<sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;Inv<sp/>)<sp/>{mat<sp/>IM<sp/>=<sp/>itpp::inv<sp/>(<sp/><ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref><sp/>);<sp/>Inv=IM;};</highlight></codeline>
+<codeline lineno="15" refid="classfsqmat_1cfa4c359483d2322f32d1d50050f8ac4" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1cfa4c359483d2322f32d1d50050f8ac4" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">fsqmat::clear</ref>()<sp/>{<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>.clear();};</highlight></codeline>
+<codeline lineno="16" refid="classfsqmat_11929fbc9fe375f1d67f979d0d302336f" refkind="member"><highlight class="normal"><ref refid="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" kindref="member" tooltip="Default initialization.">fsqmat::fsqmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;M0<sp/>)<sp/>:<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(M0.<ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member" tooltip="Reimplementing common functions of mat: cols().">cols</ref>())</highlight></codeline>
+<codeline lineno="17"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>M0.cols()<sp/>==M0.rows()<sp/>),</highlight><highlight class="stringliteral">&quot;M0<sp/>must<sp/>be<sp/>square&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>=M0;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//fsqmat::fsqmat()<sp/>{};</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24" refid="classfsqmat_140eae99305e7c7240fa95cfec125b06f" refkind="member"><highlight class="normal"><ref refid="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" kindref="member" tooltip="Default initialization.">fsqmat::fsqmat</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dim0):<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(dim0),<sp/><ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>(dim0,dim0)<sp/>{};</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26" refid="classfsqmat_1e06aba54d61e807b41bd68b5ee6ac22f" refkind="member"><highlight class="normal">std::ostream<sp/>&amp;<ref refid="classfsqmat_1e06aba54d61e807b41bd68b5ee6ac22f" kindref="member" tooltip="print full matrix">operator&lt;&lt; </ref>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;ld<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>os<sp/>&lt;&lt;<sp/>ld.<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>os;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32" refid="classldmat_1968113788422e858da23a477e98fd3a1" refkind="member"><highlight class="normal"><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat::ldmat</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;exL,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;exD<sp/>)<sp/>:<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(exD.length())<sp/>{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref><sp/>=<sp/>exD;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref><sp/>=<sp/>exL;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37" refid="classldmat_1a12dda6f529580b0377cc45226b43303" refkind="member"><highlight class="normal"><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat::ldmat</ref>()<sp/>:<ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(0)<sp/>{}</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39" refid="classldmat_1163ee002a7858d104da1c59dd11f016d" refkind="member"><highlight class="normal"><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat::ldmat</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dim0):<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(dim0),<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(dim0),<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(dim0,dim0)<sp/>{}</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41" refid="classldmat_1abe16e0f86668ef61a9a4896c8565dee" refkind="member"><highlight class="normal"><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat::ldmat</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>D0):<ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(D0.length())<sp/>{</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref><sp/>=<sp/>D0;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref><sp/>=<sp/>eye(<ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46" refid="classldmat_15f21785358072d36892d538eed1d1ea5" refkind="member"><highlight class="normal"><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat::ldmat</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;V<sp/>):<ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(V.<ref refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" kindref="member" tooltip="access function">cols</ref>())<sp/>{</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight><highlight class="comment">//TODO<sp/>check<sp/>if<sp/>correct!!<sp/>Based<sp/>on<sp/>heuristic<sp/>observation<sp/>of<sp/>lu()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(<sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>==<sp/>V.rows(),</highlight><highlight class="stringliteral">&quot;ldmat::ldmat<sp/>matrix<sp/>V<sp/>is<sp/>not<sp/>square!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>L<sp/>and<sp/>D<sp/>will<sp/>be<sp/>allocated<sp/>by<sp/>ldform()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Chol<sp/>is<sp/>unstable</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref>(chol(V),ones(<ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>));</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;ldform(ul(V),ones(dim));</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58" refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" kindref="member">ldmat::opupdt</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v,<sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>=<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length();</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kr;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>r<sp/>=<sp/>v;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//beware!<sp/>it<sp/>is<sp/>potentionally<sp/>dangerous,<sp/>if<sp/>ITpp<sp/>change<sp/>_behaviour<sp/>of<sp/>_data()!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Lraw<sp/>=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>._data();</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Draw<sp/>=<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>._data();</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*rraw<sp/>=<sp/>r._data();</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(<sp/>v.length()<sp/>==<sp/>dim,<sp/></highlight><highlight class="stringliteral">&quot;LD::ldupdt<sp/>vector<sp/>v<sp/>is<sp/>not<sp/>compatible<sp/>with<sp/>this<sp/>ld.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>dim<sp/>-<sp/>1;<sp/>i<sp/>&gt;=<sp/>0;<sp/>i--<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dydr(<sp/>rraw,<sp/>Lraw<sp/>+<sp/>i,<sp/>&amp;w,<sp/>Draw<sp/>+<sp/>i,<sp/>rraw<sp/>+<sp/>i,<sp/>0,<sp/>i,<sp/>&amp;kr,<sp/>1,<sp/>dim<sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="72"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74" refid="classldmat_1eaaa0baa6026b84cfcbced41c84599d1" refkind="member"><highlight class="normal">std::ostream<sp/>&amp;<ref refid="classldmat_1eaaa0baa6026b84cfcbced41c84599d1" kindref="member" tooltip="print both L and D ">operator&lt;&lt; </ref>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;ld<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>os<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;L:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>ld.<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>os<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;D:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>ld.<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>os;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight></codeline>
+<codeline lineno="80" refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" refkind="member"><highlight class="normal">mat<sp/><ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">ldmat::to_mat</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>=<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length();</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V(<sp/>dim,<sp/>dim<sp/>);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sum;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>r,<sp/>c,<sp/>cc;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>r<sp/>=<sp/>0;r<sp/>&lt;<sp/>dim;r++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//row<sp/>cycle</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>c<sp/>=<sp/>r;c<sp/>&lt;<sp/>dim;c++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//column<sp/>cycle,<sp/>using<sp/>symmetricity<sp/>=&gt;<sp/>c=r!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>cc<sp/>=<sp/>c;cc<sp/>&lt;<sp/>dim;cc++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//cycle<sp/>over<sp/>the<sp/>remaining<sp/>part<sp/>of<sp/>the<sp/>vector</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum<sp/>+=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>cc,<sp/>r<sp/>)<sp/>*<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(<sp/>cc<sp/>)<sp/>*<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>cc,<sp/>c<sp/>);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//here<sp/>L(cc,r)<sp/>=<sp/>L(r,cc)&apos;;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>V(<sp/>r,<sp/>c<sp/>)<sp/>=<sp/>sum;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>symmetricity</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>r<sp/>!=<sp/>c<sp/>)<sp/>{V(<sp/>c,<sp/>r<sp/>)<sp/>=<sp/>sum;};</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V2<sp/>=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>.transpose()*diag(<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref><sp/>)*<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>V2;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight></codeline>
+<codeline lineno="104" refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" kindref="member" tooltip="Add another matrix in LD form with weight w.">ldmat::add</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;ld2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>=<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length();</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(<sp/>ld2.<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length()<sp/>==<sp/>dim,<sp/></highlight><highlight class="stringliteral">&quot;LD.add()<sp/>incompatible<sp/>sizes<sp/>of<sp/>LDs;&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Fixme<sp/>can<sp/>be<sp/>done<sp/>more<sp/>efficiently<sp/>either<sp/>via<sp/>dydr<sp/>or<sp/>ldform</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>r<sp/>=<sp/>0;<sp/>r<sp/>&lt;<sp/>dim;<sp/>r++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Add<sp/>columns<sp/>of<sp/>ld2.L&apos;<sp/>(i.e.<sp/>rows<sp/>of<sp/>ld2.L)<sp/>as<sp/>dyads<sp/>weighted<sp/>by<sp/>ld2.D</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" kindref="member">opupdt</ref>(<sp/>ld2.<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>.get_row(<sp/>r<sp/>),<sp/>w*ld2.<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(<sp/>r<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="114"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116" refid="classldmat_14d6e401de9607332305c27e67972a07a" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_14d6e401de9607332305c27e67972a07a" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">ldmat::clear</ref>(){<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>.clear();<sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>.cols();i++<sp/>){<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>i,i<sp/>)=1;};<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.clear();}</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight></codeline>
+<codeline lineno="118" refid="classldmat_12c160cb123c1102face7a50ec566a031" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_12c160cb123c1102face7a50ec566a031" kindref="member" tooltip="Matrix inversion preserving the chosen form.">ldmat::inv</ref>(<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;Inv<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Inv.<ref refid="classldmat_14d6e401de9607332305c27e67972a07a" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">clear</ref>();<sp/><sp/><sp/></highlight><highlight class="comment">//Inv<sp/>=<sp/>zero<sp/>in<sp/>LD</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>U<sp/>=<sp/>ltuinv(<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref><sp/>);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Inv.<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref>(<sp/>U.transpose(),<sp/>1.0<sp/>/<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref><sp/>);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"></highlight></codeline>
+<codeline lineno="125" refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">ldmat::mult_sym</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C)<sp/>{</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A<sp/>=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>*C.T();</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref>(A,<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>);</highlight></codeline>
+<codeline lineno="128"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130" refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">ldmat::mult_sym_t</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C)<sp/>{</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A<sp/>=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>*C;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref>(A,<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>);</highlight></codeline>
+<codeline lineno="133"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135" refid="classldmat_1e7207748909325bb0f99b43f090a2b7e" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">ldmat::mult_sym</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;U)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A=<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>*C.T();<sp/></highlight><highlight class="comment">//could<sp/>be<sp/>done<sp/>more<sp/>efficiently<sp/>using<sp/>BLAS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>U.<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref>(A,<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>);</highlight></codeline>
+<codeline lineno="138"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140" refid="classldmat_1f94dc3a233f3d40fc853d8d4ac3b8eab" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">ldmat::mult_sym_t</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;U)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A=<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>*C;</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>nD=zeros(U.rows());</highlight></codeline>
+<codeline lineno="143"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>nD.replace_mid(0,<sp/>D);<sp/>//I<sp/>case<sp/>that<sp/>D<sp/>&lt;<sp/>nD*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>U.<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref>(A,<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>);</highlight></codeline>
+<codeline lineno="145"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight></codeline>
+<codeline lineno="148" refid="classldmat_12b42750ba4962d439aa52a77ae12949b" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classldmat_12b42750ba4962d439aa52a77ae12949b" kindref="member" tooltip="Logarithm of a determinant.">ldmat::logdet</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ldet<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight><highlight class="comment">//<sp/>sum<sp/>logarithms<sp/>of<sp/>diagobal<sp/>elements</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length();<sp/>i++<sp/>){ldet+=log(<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(<sp/>i<sp/>)<sp/>);};</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>ldet;</highlight></codeline>
+<codeline lineno="154"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156" refid="classldmat_1d64f331b781903e913cb2ee836886f3f" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classldmat_1d64f331b781903e913cb2ee836886f3f" kindref="member" tooltip="Evaluates quadratic form ;.">ldmat::qform</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x<sp/>=<sp/>0.0,<sp/>sum;</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>s(v.length());</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>S=<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>*v;</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"></highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length();<sp/>i++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//rows<sp/>of<sp/>L</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=0;<sp/>j&lt;=i;<sp/>j++<sp/>){sum+=<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>i,j<sp/>)*v(<sp/>j<sp/>);}</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>+=<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(<sp/>i<sp/>)*sum*sum;</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>s(i)=sum;</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>x;</highlight></codeline>
+<codeline lineno="169"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"></highlight></codeline>
+<codeline lineno="171" refid="classldmat_1d876c5f83e02b3e809b35c9de5068f14" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classldmat_1d876c5f83e02b3e809b35c9de5068f14" kindref="member" tooltip="Evaluates quadratic form ;.">ldmat::invqform</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom(v.length());</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>backward_substitution(<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>.T(),v,pom);</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length();<sp/>i++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//rows<sp/>of<sp/>L</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>+=pom(i)*pom(i)/<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(i);</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>x;</highlight></codeline>
+<codeline lineno="182"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"></highlight></codeline>
+<codeline lineno="184" refid="classldmat_1875b7e6dcf73ae7001329099019fdb1d" refkind="member"><highlight class="normal"><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/><ref refid="classldmat_1875b7e6dcf73ae7001329099019fdb1d" kindref="member" tooltip="multiply by a scalar">ldmat::operator *= </ref>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>*=x;</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="187"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"></highlight></codeline>
+<codeline lineno="189" refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" refkind="member"><highlight class="normal">vec<sp/><ref refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" kindref="member" tooltip="Multiplies square root of  by vector .">ldmat::sqrt_mult</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>res(<sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>);</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//double<sp/>sum;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>;i++<sp/>)<sp/>{</highlight><highlight class="comment">//for<sp/>each<sp/>element<sp/>of<sp/>result</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>res(<sp/>i<sp/>)<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=i;j&lt;dim;j++<sp/>)<sp/>{</highlight><highlight class="comment">//sum<sp/>D(j)*L(:,i).*x</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>res(<sp/>i<sp/>)<sp/>+=<sp/>sqrt(<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(<sp/>j<sp/>)<sp/>)*<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>j,i<sp/>)*x(<sp/>j<sp/>);</highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>res2<sp/>=<sp/>L.transpose()*diag(<sp/>sqrt(<sp/>D<sp/>)<sp/>)*x;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>res;</highlight></codeline>
+<codeline lineno="201"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight></codeline>
+<codeline lineno="203" refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldmat::ldform</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;D0<sp/>)</highlight></codeline>
+<codeline lineno="204"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>m<sp/>=<sp/>A.rows();</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n<sp/>=<sp/>A.cols();</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mn<sp/>=<sp/>(m&lt;n)<sp/>?<sp/>m<sp/>:n<sp/>;</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(<sp/>A.cols()==dim,&quot;ldmat::ldform<sp/>A<sp/>is<sp/>not<sp/>compatible&quot;<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(<sp/>D0.length()==A.rows(),</highlight><highlight class="stringliteral">&quot;ldmat::ldform<sp/>Vector<sp/>D<sp/>must<sp/>have<sp/>the<sp/>length<sp/>as<sp/>row<sp/>count<sp/>of<sp/>A&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"></highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>=concat_vertical(<sp/>zeros(<sp/>n,n<sp/>),<sp/>diag(<sp/>sqrt(<sp/>D0<sp/>)<sp/>)*A<sp/>);</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>=zeros(<sp/>n+m<sp/>);</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"></highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//unnecessary<sp/>big<sp/>L<sp/>and<sp/>D<sp/>will<sp/>be<sp/>made<sp/>smaller<sp/>at<sp/>the<sp/>end<sp/>of<sp/>file<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>w=zeros(<sp/>n+m<sp/>);</highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sum,<sp/>beta,<sp/>pom;</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"></highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>cc=0;</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=n;<sp/></highlight><highlight class="comment">//<sp/>indexovani<sp/>o<sp/>1<sp/>niz,<sp/>nez<sp/>v<sp/>matlabu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii,j,jj;</highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(<sp/>(i&gt;n-mn-cc)<sp/>&amp;&amp;<sp/>(i&gt;0)<sp/>)<sp/></highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>i--;</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"></highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>last_v<sp/>=<sp/>m+i-n+cc+1;</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>v<sp/>=<sp/>zeros(<sp/>last_v<sp/>+<sp/>1<sp/>);<sp/></highlight><highlight class="comment">//prepare<sp/>v</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>ii=n-cc-1;ii&lt;m+i+1;ii++<sp/>)<sp/></highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum+=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>ii,i<sp/>)*<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>ii,i<sp/>);</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v(<sp/>ii-n+cc+1<sp/>)=<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>ii,i<sp/>);<sp/></highlight><highlight class="comment">//assign<sp/>v</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"></highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>)==0<sp/>)<sp/></highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>beta<sp/>=<sp/>sqrt(<sp/>sum<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>beta<sp/>=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>)+sign(<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>)<sp/>)*sqrt(<sp/>sum<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>std::fabs(<sp/>beta<sp/>)&lt;eps<sp/>)</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cc++;</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.set_row(<sp/>n-cc,<sp/>L.get_row(<sp/>m+i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.set_row(<sp/>m+i,zeros(L.cols())<sp/>);</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(<sp/>m+i<sp/>)=0;<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>)=1;</highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.set_submatrix(<sp/>n-cc,m+i-1,i,i,0<sp/>);</highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">continue</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="251"><highlight class="normal"></highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum-=v(last_v)*v(last_v);</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum/=beta*beta;</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum++;</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"></highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v/=beta;</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v(last_v)=1;</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"></highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pom=-2.0/sum;</highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>echo<sp/>to<sp/>venca<sp/><sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="261"><highlight class="normal"></highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=i;j&gt;=0;j--<sp/>)<sp/></highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w_elem<sp/>=<sp/>0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>ii=n-<sp/><sp/><sp/><sp/><sp/>cc;ii&lt;=m+i+1;ii++<sp/>)<sp/></highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>w_elem+=<sp/>v(<sp/>ii-n+cc<sp/>)*<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>ii-1,j<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>w(j)=w_elem*pom;</highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"></highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>ii=n-cc-1;ii&lt;=m+i;ii++<sp/>)<sp/></highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>jj=0;jj&lt;i;jj++<sp/>)<sp/></highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>ii,jj<sp/>)+=<sp/>v(<sp/>ii-n+cc+1)*w(<sp/>jj<sp/>);</highlight></codeline>
+<codeline lineno="273"><highlight class="normal"></highlight></codeline>
+<codeline lineno="274"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>ii=n-cc-1;ii&lt;m+i;ii++<sp/>)</highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>ii,i<sp/>)=<sp/>0;</highlight></codeline>
+<codeline lineno="276"><highlight class="normal"></highlight></codeline>
+<codeline lineno="277"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>)+=w(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(<sp/>m+i<sp/>)=<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>)*<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>);</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"></highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>ii=0;ii&lt;=i;ii++<sp/>)<sp/></highlight></codeline>
+<codeline lineno="281"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,ii<sp/>)/=<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m+i,i<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="283"><highlight class="normal"></highlight></codeline>
+<codeline lineno="284"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>i&gt;=0<sp/>)</highlight></codeline>
+<codeline lineno="285"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>ii=0;ii&lt;i;ii++<sp/>)<sp/></highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>jj<sp/>=<sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.length()-1-n+ii;</highlight></codeline>
+<codeline lineno="288"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>(jj)<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.set_row(jj,zeros(L.cols()));<sp/></highlight><highlight class="comment">//TODO:<sp/>set_row<sp/>accepts<sp/>Num_T</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(jj,jj)=1;</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="292"><highlight class="normal"></highlight></codeline>
+<codeline lineno="293"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.del_rows(0,m-1);</highlight></codeline>
+<codeline lineno="294"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref>.del(0,m-1);</highlight></codeline>
+<codeline lineno="295"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="296"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>=<sp/>L.rows();</highlight></codeline>
+<codeline lineno="297"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="298"><highlight class="normal"></highlight></codeline>
+<codeline lineno="300"><highlight class="normal"></highlight></codeline>
+<codeline lineno="301" refid="libDC_8h_16715d039e6d5d97005cf9e2522dfa474" refkind="member"><highlight class="normal">mat<sp/>ltuinv(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="302"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>=<sp/>L.cols();</highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Il<sp/>=<sp/>eye(<sp/>dim<sp/>);</highlight></codeline>
+<codeline lineno="304"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j,<sp/>k,<sp/>m;</highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>s;</highlight></codeline>
+<codeline lineno="306"><highlight class="normal"></highlight></codeline>
+<codeline lineno="307"><highlight class="normal"></highlight><highlight class="comment">//Fixme<sp/>blind<sp/>transcription<sp/>of<sp/>ltuinv.m</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="308"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>k<sp/>=<sp/>1;<sp/>k<sp/>&lt;<sp/>(<sp/>dim<sp/>);k++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="309"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;<sp/>i<sp/>&lt;<sp/>(<sp/>dim<sp/>-<sp/>k<sp/>);i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="310"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>j<sp/>=<sp/>i<sp/>+<sp/>k;<sp/></highlight><highlight class="comment">//change<sp/>in<sp/>.m<sp/>1+1=2,<sp/>here<sp/>0+0+1=1</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="311"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>s<sp/>=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>j,<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="312"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>m<sp/>=<sp/>i<sp/>+<sp/>1;<sp/>m<sp/>&lt;<sp/>(<sp/>j<sp/>);<sp/>m++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="313"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>s<sp/>+=<sp/><ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>(<sp/>m,<sp/>i<sp/>)<sp/>*<sp/>Il(<sp/>j,<sp/>m<sp/>);</highlight></codeline>
+<codeline lineno="314"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="315"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Il(<sp/>j,<sp/>i<sp/>)<sp/>=<sp/>-s;</highlight></codeline>
+<codeline lineno="316"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="318"><highlight class="normal"></highlight></codeline>
+<codeline lineno="319"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>Il;</highlight></codeline>
+<codeline lineno="320"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="321"><highlight class="normal"></highlight></codeline>
+<codeline lineno="322" refid="libDC_8h_14ed56e73b49db8e7f4a63fa926a8dca4" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>dydr(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*<sp/>r,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*f,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Dr,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Df,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*R,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>jl,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>jh,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*kr,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mx<sp/>)</highlight></codeline>
+<codeline lineno="323"><highlight class="normal"></highlight><highlight class="comment">/********************************************************************</highlight></codeline>
+<codeline lineno="324"><highlight class="comment"></highlight></codeline>
+<codeline lineno="325"><highlight class="comment"><sp/><sp/><sp/>dydr<sp/>=<sp/>dyadic<sp/>reduction,<sp/>performs<sp/>transformation<sp/>of<sp/>sum<sp/>of</highlight></codeline>
+<codeline lineno="326"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>2<sp/>dyads<sp/>r*Dr*r&apos;+<sp/>f*Df*f&apos;<sp/>so<sp/>that<sp/>the<sp/>element<sp/>of<sp/>r<sp/>pointed</highlight></codeline>
+<codeline lineno="327"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>by<sp/>R<sp/>is<sp/>zeroed.<sp/>This<sp/>version<sp/>allows<sp/>Dr<sp/>to<sp/>be<sp/>NEGATIVE.<sp/>Hence<sp/>the<sp/>name<sp/>negdydr<sp/>or<sp/>dydr_withneg.</highlight></codeline>
+<codeline lineno="328"><highlight class="comment"></highlight></codeline>
+<codeline lineno="329"><highlight class="comment"><sp/><sp/><sp/>Parameters<sp/>:</highlight></codeline>
+<codeline lineno="330"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>r<sp/>...<sp/>pointer<sp/>to<sp/>reduced<sp/>dyad</highlight></codeline>
+<codeline lineno="331"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>f<sp/>...<sp/>pointer<sp/>to<sp/>reducing<sp/>dyad</highlight></codeline>
+<codeline lineno="332"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Dr<sp/>..<sp/>pointer<sp/>to<sp/>the<sp/>weight<sp/>of<sp/>reduced<sp/>dyad</highlight></codeline>
+<codeline lineno="333"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Df<sp/>..<sp/>pointer<sp/>to<sp/>the<sp/>weight<sp/>of<sp/>reducing<sp/>dyad</highlight></codeline>
+<codeline lineno="334"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>R<sp/>...<sp/>pointer<sp/>to<sp/>the<sp/>element<sp/>of<sp/>r,<sp/>which<sp/>is<sp/>to<sp/>be<sp/>reduced<sp/>to</highlight></codeline>
+<codeline lineno="335"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zero;<sp/>the<sp/>corresponding<sp/>element<sp/>of<sp/>f<sp/>is<sp/>assumed<sp/>to<sp/>be<sp/>1.</highlight></codeline>
+<codeline lineno="336"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>jl<sp/>..<sp/>lower<sp/>index<sp/>of<sp/>the<sp/>range<sp/>within<sp/>which<sp/>the<sp/>dyads<sp/>are</highlight></codeline>
+<codeline lineno="337"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>modified</highlight></codeline>
+<codeline lineno="338"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>ju<sp/>..<sp/>upper<sp/>index<sp/>of<sp/>the<sp/>range<sp/>within<sp/>which<sp/>the<sp/>dyads<sp/>are</highlight></codeline>
+<codeline lineno="339"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>modified</highlight></codeline>
+<codeline lineno="340"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>kr<sp/>..<sp/>pointer<sp/>to<sp/>the<sp/>coefficient<sp/>used<sp/>in<sp/>the<sp/>transformation<sp/>of<sp/>r</highlight></codeline>
+<codeline lineno="341"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rnew<sp/>=<sp/>r<sp/>+<sp/>kr*f</highlight></codeline>
+<codeline lineno="342"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>m<sp/><sp/>..<sp/>number<sp/>of<sp/>rows<sp/>of<sp/>modified<sp/>matrix<sp/>(part<sp/>of<sp/>which<sp/>is<sp/>r)</highlight></codeline>
+<codeline lineno="343"><highlight class="comment"><sp/><sp/>Remark<sp/>:<sp/>Constant<sp/>mzero<sp/>means<sp/>machine<sp/>zero<sp/>and<sp/>should<sp/>be<sp/>modified</highlight></codeline>
+<codeline lineno="344"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>according<sp/>to<sp/>the<sp/>precision<sp/>of<sp/>particular<sp/>machine</highlight></codeline>
+<codeline lineno="345"><highlight class="comment"></highlight></codeline>
+<codeline lineno="346"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>V.<sp/>Peterka<sp/>17-7-89</highlight></codeline>
+<codeline lineno="347"><highlight class="comment"></highlight></codeline>
+<codeline lineno="348"><highlight class="comment"><sp/><sp/>Added:</highlight></codeline>
+<codeline lineno="349"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>mx<sp/>..<sp/>number<sp/>of<sp/>rows<sp/>of<sp/>modified<sp/>matrix<sp/>(part<sp/>of<sp/>which<sp/>is<sp/>f)<sp/><sp/>-PN</highlight></codeline>
+<codeline lineno="350"><highlight class="comment"></highlight></codeline>
+<codeline lineno="351"><highlight class="comment">********************************************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="352"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="353"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>j,<sp/>jm;</highlight></codeline>
+<codeline lineno="354"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kD,<sp/>r0;</highlight></codeline>
+<codeline lineno="355"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>mzero<sp/>=<sp/>2.2e-16;</highlight></codeline>
+<codeline lineno="356"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>threshold<sp/>=<sp/>1e-4;</highlight></codeline>
+<codeline lineno="357"><highlight class="normal"></highlight></codeline>
+<codeline lineno="358"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>fabs(<sp/>*Dr<sp/>)<sp/>&lt;<sp/>mzero<sp/>)<sp/>*Dr<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="359"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>r0<sp/>=<sp/>*R;</highlight></codeline>
+<codeline lineno="360"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*R<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="361"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kD<sp/>=<sp/>*Df;</highlight></codeline>
+<codeline lineno="362"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*kr<sp/>=<sp/>r0<sp/>*<sp/>*Dr;</highlight></codeline>
+<codeline lineno="363"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*Df<sp/>=<sp/>kD<sp/>+<sp/>r0<sp/>*<sp/>(<sp/>*kr<sp/>);</highlight></codeline>
+<codeline lineno="364"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>*Df<sp/>&gt;<sp/>mzero<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="365"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kD<sp/>/=<sp/>*Df;</highlight></codeline>
+<codeline lineno="366"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*kr<sp/>/=<sp/>*Df;</highlight></codeline>
+<codeline lineno="367"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="368"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kD<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="369"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*kr<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="370"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>*Df<sp/>&lt;<sp/>-threshold<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="371"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_warning(<sp/></highlight><highlight class="stringliteral">&quot;Problem<sp/>in<sp/>dydr:<sp/>subraction<sp/>of<sp/>dyad<sp/>results<sp/>in<sp/>negative<sp/>definitness.<sp/>Likely<sp/>mistake<sp/>in<sp/>calling<sp/>function.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="372"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="373"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*Df<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="374"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="375"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*Dr<sp/>*=<sp/>kD;</highlight></codeline>
+<codeline lineno="376"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>jm<sp/>=<sp/>mx<sp/>*<sp/>jl;</highlight></codeline>
+<codeline lineno="377"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j<sp/>=<sp/>m<sp/>*<sp/>jl;<sp/>j<sp/>&lt;<sp/>m*jh;<sp/>j<sp/>+=<sp/>m<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="378"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>r[j]<sp/>-=<sp/><sp/>r0<sp/>*<sp/>f[jm];</highlight></codeline>
+<codeline lineno="379"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>f[jm]<sp/>+=<sp/>*kr<sp/>*<sp/>r[j];</highlight></codeline>
+<codeline lineno="380"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>jm<sp/>+=<sp/>mx;</highlight></codeline>
+<codeline lineno="381"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="382"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/structhello__pimpl.xml
===================================================================
--- /doc/xml/structhello__pimpl.xml (revision 187)
+++ /doc/xml/structhello__pimpl.xml (revision 187)
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="structhello__pimpl" kind="struct" prot="public">
+    <compoundname>hello_pimpl</compoundname>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="structhello__pimpl_1cf6731da24a03b1d683dbd2a454cf796" prot="private" static="no" mutable="no">
+        <type>string</type>
+        <definition>string hello_pimpl::greeting_</definition>
+        <argsstring></argsstring>
+        <name>greeting_</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" line="27" bodyfile="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" bodystart="27" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="structhello__pimpl_1a51ac375d39957a587920d9f5cb060c1" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void hello_pimpl::greeting</definition>
+        <argsstring>(const string &amp;greeting)</argsstring>
+        <name>greeting</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>greeting</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" line="16" bodyfile="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" bodystart="15" bodyend="18"/>
+      </memberdef>
+      <memberdef kind="function" id="structhello__pimpl_13328bd0c5f114868c979fd4c461ac1eb" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void hello_pimpl::name</definition>
+        <argsstring>(const string &amp;name)</argsstring>
+        <name>name</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>name</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" line="22" bodyfile="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" bodystart="21" bodyend="24"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <collaborationgraph>
+      <node id="900">
+        <label>string</label>
+      </node>
+      <node id="899">
+        <label>hello_pimpl</label>
+        <childnode refid="900" relation="usage">
+          <edgelabel>greeting_</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" line="13" bodyfile="/home/smidl/work/git/mixpp/tests/test_xsd_hello.cxx" bodystart="12" bodyend="28"/>
+    <listofallmembers>
+      <member refid="structhello__pimpl_1a51ac375d39957a587920d9f5cb060c1" prot="public" virt="virtual"><scope>hello_pimpl</scope><name>greeting</name></member>
+      <member refid="structhello__pimpl_1cf6731da24a03b1d683dbd2a454cf796" prot="private" virt="non-virtual"><scope>hello_pimpl</scope><name>greeting_</name></member>
+      <member refid="structhello__pimpl_13328bd0c5f114868c979fd4c461ac1eb" prot="public" virt="virtual"><scope>hello_pimpl</scope><name>name</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_6404be276a1e7b279c98d38682f43759.xml
===================================================================
--- /doc/xml/dir_6404be276a1e7b279c98d38682f43759.xml (revision 187)
+++ /doc/xml/dir_6404be276a1e7b279c98d38682f43759.xml (revision 187)
@@ -0,0 +1,17 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_6404be276a1e7b279c98d38682f43759" kind="dir">
+    <compoundname>work/git/mixpp/matlab/mex/</compoundname>
+    <innerfile refid="matlab_2mex_2arx_8cpp">arx.cpp</innerfile>
+    <innerfile refid="arx__c_8cpp">arx_c.cpp</innerfile>
+    <innerfile refid="ill__polyfit_8m">ill_polyfit.m</innerfile>
+    <innerfile refid="linefit_8cpp">linefit.cpp</innerfile>
+    <innerfile refid="linefit2_8cpp">linefit2.cpp</innerfile>
+    <innerfile refid="sumitpp_8cpp">sumitpp.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/matlab/mex/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/simulator_8cpp.xml
===================================================================
--- /doc/xml/simulator_8cpp.xml (revision 187)
+++ /doc/xml/simulator_8cpp.xml (revision 187)
@@ -0,0 +1,1410 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="simulator_8cpp" kind="file">
+    <compoundname>simulator.cpp</compoundname>
+    <includes local="no">math.h</includes>
+    <includes local="no">stdlib.h</includes>
+    <includes refid="regulace_8h" local="yes">regulace.h</includes>
+    <includes refid="simulator_8h" local="yes">simulator.h</includes>
+    <incdepgraph>
+      <node id="703">
+        <label>regulace.h</label>
+        <link refid="regulace_8h-source"/>
+      </node>
+      <node id="702">
+        <label>stdlib.h</label>
+      </node>
+      <node id="704">
+        <label>simulator.h</label>
+        <link refid="simulator_8h-source"/>
+      </node>
+      <node id="701">
+        <label>math.h</label>
+      </node>
+      <node id="700">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp</label>
+        <link refid="simulator.cpp"/>
+        <childnode refid="701" relation="include">
+        </childnode>
+        <childnode refid="702" relation="include">
+        </childnode>
+        <childnode refid="703" relation="include">
+        </childnode>
+        <childnode refid="704" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="simulator_8cpp_1525335710b53cb064ca56b936120431e" prot="public" static="no">
+        <name>_USE_MATH_DEFINES</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="13" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="13" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="simulator_8cpp_19cd91cdba17e9621f425b31a3662b484" prot="public" static="no">
+        <name>REZIM_REGULACE</name>
+        <initializer>1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="21" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="simulator_8cpp_1d64417a28c816d614e4501b01ca36a46" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Rs</definition>
+        <argsstring></argsstring>
+        <name>Rs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simulator_8cpp_176f32b985a9b31650b0d233491b7b7d4" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Ls</definition>
+        <argsstring></argsstring>
+        <name>Ls</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simulator_8cpp_1558972170606cd05054ab130beabad1e" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Fmag</definition>
+        <argsstring></argsstring>
+        <name>Fmag</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simulator_8cpp_197a370d74f3992f74cbf660239146ec1" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Bf</definition>
+        <argsstring></argsstring>
+        <name>Bf</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simulator_8cpp_1ace2d484b0e3651abd108f04803d316c" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double p</definition>
+        <argsstring></argsstring>
+        <name>p</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
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+        <name>KalmanObs</name>
+        <initializer>{0.,0.,0.,0.,0.,0.,0.,0.,0.,0.}</initializer>
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+        <initializer>0.</initializer>
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+        <definition>void pmsmsim_set_parameters</definition>
+        <argsstring>(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)</argsstring>
+        <name>pmsmsim_set_parameters</name>
+        <param>
+          <type>double</type>
+          <declname>Rs0</declname>
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+        <param>
+          <type>double</type>
+          <declname>Ls0</declname>
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+          <type>double</type>
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+          <type>double</type>
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+        <param>
+          <type>double</type>
+          <declname>kp0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>J0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>dt0</declname>
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+        <type>void</type>
+        <definition>void pmsmsim_step</definition>
+        <argsstring>(double Ww)</argsstring>
+        <name>pmsmsim_step</name>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
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+        <definition>static void pwm</definition>
+        <argsstring>(unsigned int mod)</argsstring>
+        <name>pwm</name>
+        <param>
+          <type>unsigned int</type>
+          <declname>mod</declname>
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+        <type>double</type>
+        <definition>static double ubytek</definition>
+        <argsstring>(double I)</argsstring>
+        <name>ubytek</name>
+        <param>
+          <type>double</type>
+          <declname>I</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="237" bodyend="255"/>
+      </memberdef>
+      <memberdef kind="function" id="simulator_8cpp_1e6c1e8a2485b12c9991afcf2213dcae8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>static void pmsm_model</definition>
+        <argsstring>(unsigned int mod)</argsstring>
+        <name>pmsm_model</name>
+        <param>
+          <type>unsigned int</type>
+          <declname>mod</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="258" bodyend="308"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Simulator<sp/>of<sp/>Vector<sp/>Controlled<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>This<sp/>module<sp/>is<sp/>background<sp/>for<sp/>PMSM<sp/>drive<sp/>object<sp/>design<sp/>and</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>introduces<sp/>basic<sp/>functions<sp/>...<sp/>set_parameters()<sp/>and<sp/>eval().</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stdlib.h&gt;</highlight><highlight class="normal"><sp/></highlight><highlight class="comment">//na<sp/>linuxu<sp/>je<sp/>abs<sp/>v<sp/>stdlib</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;regulace.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>REZIM_REGULACE<sp/><sp/>1<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>0...reg.<sp/>momentu,<sp/>1...reg.rychlosti,<sp/>2...<sp/>Isqw=sqrt(Imax^2-Id^2)<sp/>-<sp/>max.<sp/>moment</highlight></codeline>
+<codeline lineno="22"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_step(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">//<sp/>local<sp/>functions</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_model(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="comment">//<sp/>simulator<sp/>properties<sp/>///////////////////////</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,Ls,Fmag,Bf,p,kp,J;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>parameters<sp/>of<sp/>PMSM<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,Uc,DT,U_modulace;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>dc-link<sp/>voltage<sp/>and<sp/>dead-time</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>field<sp/>weakening</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,h_reg,h_reg_real;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>simulation<sp/>step<sp/>and<sp/>sampling<sp/>of<sp/>employed<sp/>loops</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>h_reg_counter,h_reg_counter_mez;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>DSP<sp/>operation</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>va_char[16]={0,10,50,100,200,300,500,1000,<sp/>0,1,1.8,2.4,3.2,3.8,4.8,6.8};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet=8;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>VA-charky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="comment">//<sp/>system<sp/>state</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[9];<sp/></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="comment">//<sp/>internal<sp/>variables<sp/>of<sp/>PWM<sp/>module</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>smer,<sp/>smer2,<sp/>citac,<sp/>citac2,<sp/>citac_PR,<sp/>modulace;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="comment">//<sp/>internal<sp/>variables<sp/>of<sp/>PMSM<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dIsx,dIsx1,dIsx2,dIsx3,dIsy,dIsy1,dIsy2,dIsy3;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dTheta,dTheta1,dTheta2,dTheta3;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dw,dw1,dw2,dw3;</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="comment">//<sp/>system<sp/>measures</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/>Isy,<sp/>theta,<sp/>speed;</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="comment">//<sp/>control</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>u[2]={0.,0.};<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>u={Um,<sp/>beta}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>us[2]={0.,0.};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>us={us_alfa,<sp/>us_beta}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight><highlight class="comment">//<sp/>variables<sp/>for<sp/>calculation<sp/>of<sp/>mean<sp/>values<sp/>of<sp/>stator<sp/>voltage<sp/>components</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx_av=0.,<sp/>usy_av=0.,sum_usx_av=0.,sum_usy_av=0.;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight><highlight class="comment">//<sp/>variables<sp/>for<sp/>calculation<sp/>of<sp/>mean<sp/>values<sp/>of<sp/>stator<sp/>current<sp/>components<sp/>-<sp/>(alfa,<sp/>beta)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isx_av=0.,<sp/>isy_av=0.,sum_isx_av=0.,sum_isy_av=0.;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight><highlight class="comment">//<sp/>stator<sp/>voltage<sp/>components<sp/>filtering</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usxf=0.,usyf=0.,Tf=0.01;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>start_filter=1;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight><highlight class="comment">//<sp/>output<sp/>for<sp/>EKF<sp/>(voltages<sp/>and<sp/>measured<sp/>currents,<sp/>which<sp/>are<sp/>fed<sp/>to<sp/>KalmanObs)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>KalmanObs[10]={0.,0.,0.,0.,0.,0.,0.,0.,0.,0.};<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usx,<sp/>usy,<sp/>Isx,<sp/>Isy,<sp/>usx_av,<sp/>usy_av</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight><highlight class="comment">//<sp/>real-time</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>t=0.;<sp/></highlight><highlight class="comment">//VS<sp/>removed<sp/>static<sp/>due<sp/>to<sp/>clash<sp/>with<sp/>export<sp/>in<sp/>.h</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight><highlight class="comment">//<sp/>stator<sp/>voltage<sp/>components<sp/>in<sp/>alfa<sp/>beta<sp/>(inluding<sp/>impact<sp/>of<sp/>the<sp/>real<sp/>dc-link<sp/>voltage)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ualfa=0.,<sp/>ubeta=0.;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0)</highlight></codeline>
+<codeline lineno="80"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tmp_i;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>simulator<sp/>parameters<sp/>setup</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/>Rs=Rs0;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/>Ls=Ls0;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/>Fmag=Fmag0;</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/>Bf=Bf0;</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/>p=p0;</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/>kp=kp0;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/>J=J0;</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/>Ucn=600.;</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/>Uc=Uc0;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/>DT=DT0;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>control<sp/>setup</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/>Urm_max=0.95;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>simulator<sp/>sampling<sp/>-<sp/>fixed<sp/>setup</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/>h=dt0;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/>h_reg=125e-6;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>fpwm<sp/>=<sp/>4kHz</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/>h_reg_counter_mez=(int)(h_reg/h);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>operation<sp/>of<sp/>DSP<sp/>timer</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//h_reg_counter=h_reg_counter_mez;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/>h_reg_counter=1;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/>h_reg_real=h_reg_counter_mez*h;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>real<sp/>sampling<sp/>period</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>reset<sp/>of<sp/>the<sp/>system<sp/>state<sp/>variables</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(tmp_i=0;tmp_i&lt;9;tmp_i++)</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/>x[tmp_i]=0.;</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>the<sp/>first<sp/>measure</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/>Isx=0.;Isy=0.;theta=x[3];speed=x[2];</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight><highlight class="comment">//<sp/>===<sp/>init<sp/>of<sp/>particular<sp/>modules<sp/>of<sp/>simulator<sp/>===</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>PWM<sp/>init</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/>smer=-1;<sp/>smer2=-1;</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/>citac=0;</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/>citac2=abs(0-(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal">)(DT/h));<sp/></highlight><highlight class="comment">//VS:<sp/>oprava,<sp/>je<sp/>to<sp/>spravne?</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/>citac_PR=h_reg_counter_mez;</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>first<sp/>interrupt<sp/>occur<sp/>after<sp/>first<sp/>period<sp/>match<sp/>=&gt;<sp/>add<sp/>1<sp/>to<sp/>both<sp/>counter<sp/>registers</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/>citac++;smer=1;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/>citac2--;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/>modulace=1;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>THIPWM</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(modulace==1)</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/>U_modulace=Ucn/sqrt(3.);</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/>U_modulace=Ucn/2.;</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>PMSM<sp/>model<sp/>init</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/>dIsx=0;dIsx1=0;dIsx2=0;dIsx3=0;dIsy=0;dIsy1=0;dIsy2=0;dIsy3=0;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/>dTheta=0;dTheta1=0;dTheta2=0;dTheta3=0;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/>dw=0;dw1=0;dw2=0;dw3=0;</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/>init_regulace(Ls,Fmag,kp,p,h_reg_real);</highlight></codeline>
+<codeline lineno="136"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"></highlight><highlight class="comment">//<sp/>mod<sp/>...<sp/>mod=0<sp/>-<sp/>sinusoidal<sp/>PWM;<sp/>mod=1<sp/>-<sp/>PWM<sp/>with<sp/>injected<sp/>3rd<sp/>harmonic</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>beta;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U3;</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>up,<sp/>up2;</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/>Um=*u;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/>beta=*(u+1);</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>carrier<sp/>-<sp/>timer</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/>up=((double)citac/citac_PR-0.5)*Ucn;</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/>up2=((double)citac2/citac_PR-0.5)*Ucn;</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/>iabc[0]=*x;</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/>iabc[1]=(-*x+sqrt(3.)**(x+1))/2.;</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/>iabc[2]=(-*x-sqrt(3.)**(x+1))/2.;</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mod==0)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>sin.<sp/>PWM</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*cos(beta);</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*cos(beta-2./3.*M_PI);</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*cos(beta+2./3.*M_PI);</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>PWM<sp/>with<sp/>injected<sp/>3rd<sp/>harmonic</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/>U3=0.17*cos(3.*beta);</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*(cos(beta)-U3);</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*(cos(beta-2./3.*M_PI)-U3);</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*(cos(beta+2./3.*M_PI)-U3);</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"></highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(fabs(iabc[i]))*0.;</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementation<sp/>of<sp/>voltage<sp/>drops<sp/>and<sp/>dead-times</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"></highlight></codeline>
+<codeline lineno="192"><highlight class="normal"></highlight><highlight class="comment">//<sp/>phase<sp/>voltages</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/>ua=(2.*ustr[0]-ustr[1]-ustr[2])/3.;</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/>ub=(2.*ustr[1]-ustr[0]-ustr[2])/3.;</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/>uc=(2.*ustr[2]-ustr[0]-ustr[1])/3.;</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"></highlight><highlight class="comment">//<sp/>voltage<sp/>vector<sp/>in<sp/>stationary<sp/>reference<sp/>frame<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>DSP<sp/>timers</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac==citac_PR)||(citac==0))</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/>smer*=-1;</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>calculation<sp/>of<sp/>stator<sp/>voltage<sp/>components<sp/>mean<sp/>values</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/>usx_av=h/h_reg*sum_usx_av;</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/>usy_av=h/h_reg*sum_usy_av;</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>reset<sp/>of<sp/>sum<sp/>accumulators</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_usx_av=0.;</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_usy_av=0.;</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>stator<sp/>current<sp/>components<sp/>mean<sp/>values<sp/>-<sp/>reference<sp/>frame<sp/>(alfa,<sp/>beta)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/>isx_av=h/h_reg*sum_isx_av;</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/><sp/><sp/>isy_av=h/h_reg*sum_isy_av;</highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>reset<sp/>of<sp/>sum<sp/>accumulators</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_isx_av=0.;</highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_isy_av=0.;</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac2==citac_PR)||(citac2==0))<sp/>smer2*=-1;</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/>citac+=smer;</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/>citac2+=smer2;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>calculation<sp/>of<sp/>stator<sp/>voltage<sp/>components<sp/>mean<sp/>values<sp/>-<sp/>sum</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/>sum_usx_av+=*us;</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/>sum_usy_av+=*(us+1);</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>stator<sp/>voltage<sp/>components<sp/>filtering</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//if<sp/>(start_filter==1)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/>usxf+=(*us-usxf)*h/h_reg;</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/>usyf+=(*(us+1)-usyf)*h/h_reg;</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>stator<sp/>current<sp/>components<sp/>mean<sp/>values<sp/>-<sp/>reference<sp/>frame<sp/>(alfa,<sp/>beta)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/>sum_isx_av+=*x;</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/>sum_isy_av+=*(x+1);</highlight></codeline>
+<codeline lineno="235"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"></highlight></codeline>
+<codeline lineno="237"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I)</highlight></codeline>
+<codeline lineno="238"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii;</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
+<codeline lineno="241"><highlight class="normal"></highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/>ii=0;</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>((*(va_char+ii)&lt;I)<sp/>&amp;&amp;<sp/>(ii&lt;(pocet-1)))</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/>ii++;</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"></highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==(pocet-1))</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii+pocet);</highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==0)</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=0;</highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii-1+pocet)+(I-*(va_char+ii-1))/(*(va_char+ii)-*(va_char+ii-1))*(*(va_char+ii+pocet)-*(va_char+ii-1+pocet));</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"></highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
+<codeline lineno="255"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"></highlight></codeline>
+<codeline lineno="257"><highlight class="normal"></highlight></codeline>
+<codeline lineno="258"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_model(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline>
+<codeline lineno="259"><highlight class="normal"></highlight><highlight class="comment">//<sp/>mod&lt;5...Euler,<sp/>mod&gt;4<sp/>...<sp/>Adams<sp/>of<sp/>4th<sp/>order</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="260"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/>usy;</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"></highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/>usx=*us;</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"><sp/><sp/>usy=*(us+1);</highlight></codeline>
+<codeline lineno="265"><highlight class="normal"></highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/>dIsx=-Rs/Ls*x[0]+Fmag/Ls*x[2]*sin(x[3])+usx/Ls;</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/>dIsy=-Rs/Ls*x[1]-Fmag/Ls*x[2]*cos(x[3])+usy/Ls;</highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/>dTheta=x[2];</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"></highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(J&gt;0)</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=kp*p*p*Fmag/J*(x[1]*cos(x[3])-x[0]*sin(x[3]))-Bf/J*x[2]-p/J*x[8];</highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=0;</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"></highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>integration</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="276"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mod&lt;5)<sp/><sp/></highlight><highlight class="comment">//<sp/>Euler</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="277"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=dIsx*h;</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=dIsy*h;</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=dw*h;</highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=dTheta*h;</highlight></codeline>
+<codeline lineno="281"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Adams<sp/>(4th<sp/>order)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="283"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=h/24.*(55.*dIsx-59.*dIsx1+37.*dIsx2-9.*dIsx3);</highlight></codeline>
+<codeline lineno="284"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=h/24.*(55.*dIsy-59.*dIsy1+37.*dIsy2-9.*dIsy3);</highlight></codeline>
+<codeline lineno="285"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=h/24.*(55.*dw-59.*dw1+37.*dw2-9.*dw3);</highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=h/24.*(55.*dTheta-59.*dTheta1+37.*dTheta2-9.*dTheta3);</highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="288"><highlight class="normal"></highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>of<sp/>theta<sp/>to<sp/>(-pi,pi)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&gt;M_PI)<sp/>x[3]-=(2*M_PI);</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&lt;-M_PI)<sp/>x[3]+=(2*M_PI);</highlight></codeline>
+<codeline lineno="292"><highlight class="normal"></highlight></codeline>
+<codeline lineno="293"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>diff.<sp/>shift<sp/>-<sp/>Adams</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="294"><highlight class="normal"><sp/><sp/>dIsx3=dIsx2;dIsx2=dIsx1;dIsx1=dIsx;</highlight></codeline>
+<codeline lineno="295"><highlight class="normal"><sp/><sp/>dIsy3=dIsy2;dIsy2=dIsy1;dIsy1=dIsy;</highlight></codeline>
+<codeline lineno="296"><highlight class="normal"><sp/><sp/>dTheta3=dTheta2;dTheta2=dTheta1;dTheta1=dTheta;</highlight></codeline>
+<codeline lineno="297"><highlight class="normal"><sp/><sp/>dw3=dw2;dw2=dw1;dw1=dw;</highlight></codeline>
+<codeline lineno="298"><highlight class="normal"></highlight></codeline>
+<codeline lineno="299"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>calculation<sp/>of<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="300"><highlight class="normal"><sp/><sp/>x[6]=x[0]*cos(x[3])+x[1]*sin(x[3]);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="301"><highlight class="normal"><sp/><sp/>x[7]=x[1]*cos(x[3])-x[0]*sin(x[3]);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="302"><highlight class="normal"></highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Fsd<sp/>...<sp/>d-component<sp/>of<sp/>stator<sp/>flux</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="304"><highlight class="normal"><sp/><sp/>x[5]=Ls*x[6]+Fmag;</highlight></codeline>
+<codeline lineno="305"><highlight class="normal"></highlight></codeline>
+<codeline lineno="306"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Torque</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/>x[4]=kp*p*Fmag*(x[1]*cos(x[3])-x[0]*sin(x[3]));</highlight></codeline>
+<codeline lineno="308"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="309"><highlight class="normal"></highlight></codeline>
+<codeline lineno="311"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_step(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>you<sp/>must<sp/>link<sp/>array<sp/>KalmanObs[]<sp/>to<sp/>EKF<sp/>modul</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="312"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="313"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Umk,<sp/>ub,<sp/>uc;</highlight></codeline>
+<codeline lineno="314"><highlight class="normal"></highlight></codeline>
+<codeline lineno="315"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>while<sp/>(t&lt;=t_end)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="316"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/>pwm(modulace);</highlight></codeline>
+<codeline lineno="318"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/>*us=KalmanObs[0];<sp/>*(us+1)=KalmanObs[1];</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="319"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/>*us=ualfa;<sp/>*(us+1)=ubeta;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="320"><highlight class="normal"><sp/><sp/><sp/><sp/>pmsm_model(5);</highlight></codeline>
+<codeline lineno="321"><highlight class="normal"></highlight></codeline>
+<codeline lineno="322"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(h_reg_counter&gt;=h_reg_counter_mez)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pocatek<sp/>ISR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="323"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="324"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>voltages<sp/>and<sp/>measured<sp/>currents<sp/>for<sp/>EKF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="325"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Umk=*u*Uc/Ucn;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="326"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>ualfa=Umk*cos(*(u+1));</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="327"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>ub=Umk*cos(*(u+1)-2./3.*M_PI);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="328"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[0]=ualfa;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="329"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//KalmanObs[1]=(ualfa+2.*ub)/sqrt(3.);<sp/><sp/><sp/><sp/>//<sp/>usy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="330"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[1]=ubeta;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="331"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="332"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>real<sp/>sampling<sp/>-<sp/>considered<sp/>transport<sp/>delay<sp/>equal<sp/>to<sp/>the<sp/>sampling<sp/>period</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="333"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/>KalmanObs[2]=Isx;</highlight></codeline>
+<codeline lineno="334"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>KalmanObs[3]=Isy;*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="335"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ideal<sp/>sampling</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="336"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[2]=x[0];</highlight></codeline>
+<codeline lineno="337"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[3]=x[1];</highlight></codeline>
+<codeline lineno="338"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="339"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>diagnostic<sp/>-<sp/>mean<sp/>values<sp/>of<sp/>stator<sp/>voltage<sp/>components<sp/>-<sp/>pwm()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="340"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[4]=usx_av;</highlight></codeline>
+<codeline lineno="341"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[5]=usy_av;</highlight></codeline>
+<codeline lineno="342"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[6]=usxf;</highlight></codeline>
+<codeline lineno="343"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[7]=usyf;</highlight></codeline>
+<codeline lineno="344"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[8]=isx_av;</highlight></codeline>
+<codeline lineno="345"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[9]=isy_av;<sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="346"><highlight class="normal"></highlight></codeline>
+<codeline lineno="347"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>vektor_regulace(0,0,Urm_max,Ww,u,Isx,Isy,theta,speed,U_modulace,Uc,Ucn,REZIM_REGULACE);<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=1<sp/>...<sp/>reg.<sp/>rychlosti,<sp/>rezim=0<sp/>...<sp/>reg.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="348"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=2<sp/>...<sp/>Iqw=sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="349"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>the<sp/>real<sp/>sampling<sp/>of<sp/>A/D<sp/>converter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="350"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>Isx=x[0];Isy=x[1];speed=x[2];theta=x[3];</highlight></codeline>
+<codeline lineno="351"><highlight class="normal"></highlight></codeline>
+<codeline lineno="352"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>include<sp/>ideal<sp/>commanded<sp/>stator<sp/>voltage<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="353"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>Umk=*u*Uc/Ucn;</highlight></codeline>
+<codeline lineno="354"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ualfa=Umk*cos(*(u+1));<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usx<sp/>=<sp/>usa</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="355"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ub=Umk*cos(*(u+1)-2./3.*M_PI);</highlight></codeline>
+<codeline lineno="356"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ubeta=(ualfa+2.*ub)/sqrt(3.);<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="357"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>uc=-ualfa-ub;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="358"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>ubeta=(ub-uc)/sqrt(3.);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="359"><highlight class="normal"></highlight></codeline>
+<codeline lineno="360"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>h_reg_counter=0;</highlight></codeline>
+<codeline lineno="361"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="362"><highlight class="normal"></highlight></codeline>
+<codeline lineno="363"><highlight class="normal"><sp/><sp/><sp/><sp/>t+=h;</highlight></codeline>
+<codeline lineno="364"><highlight class="normal"><sp/><sp/><sp/><sp/>h_reg_counter++;</highlight></codeline>
+<codeline lineno="365"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="366"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classitpp_1_1Gamma__RNG.xml
===================================================================
--- /doc/xml/classitpp_1_1Gamma__RNG.xml (revision 187)
+++ /doc/xml/classitpp_1_1Gamma__RNG.xml (revision 187)
@@ -0,0 +1,249 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classitpp_1_1Gamma__RNG" kind="class" prot="public">
+    <compoundname>itpp::Gamma_RNG</compoundname>
+    <includes refid="itpp__ext_8h" local="no">itpp_ext.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classitpp_1_1Gamma__RNG_18f1b44b286dc0f2d2cd604fb44ba5955" prot="private" static="no" mutable="no">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::alpha</definition>
+        <argsstring></argsstring>
+        <name>alpha</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="55" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="55" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classitpp_1_1Gamma__RNG_1271318dafa207cb392b1a95a10b271ee" prot="private" static="no" mutable="no">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::beta</definition>
+        <argsstring></argsstring>
+        <name>beta</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="57" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="57" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classitpp_1_1Gamma__RNG_11d8015477d8cb406a912dce969a85b60" prot="private" static="no" mutable="no">
+        <type>Random_Generator</type>
+        <definition>Random_Generator itpp::Gamma_RNG::RNG</definition>
+        <argsstring></argsstring>
+        <name>RNG</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="59" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="59" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classitpp_1_1Gamma__RNG_1af4a6b9ab9dd8fad2fe7fe7fa63192c3" prot="private" static="no" mutable="no">
+        <type>Normal_RNG</type>
+        <definition>Normal_RNG itpp::Gamma_RNG::NRNG</definition>
+        <argsstring></argsstring>
+        <name>NRNG</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="60" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="60" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_1e132860f825f427d63652edd02c25b54" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>itpp::Gamma_RNG::Gamma_RNG</definition>
+        <argsstring>(double a=1.0, double b=1.0)</argsstring>
+        <name>Gamma_RNG</name>
+        <param>
+          <type>double</type>
+          <declname>a</declname>
+          <defval>1.0</defval>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>b</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>constructor. Set lambda. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="54" bodyend="56"/>
+        <references refid="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" compoundref="itpp__ext_8h" startline="41" endline="41">setup</references>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void itpp::Gamma_RNG::setup</definition>
+        <argsstring>(double a0, double b0)</argsstring>
+        <name>setup</name>
+        <param>
+          <type>double</type>
+          <declname>a0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>b0</declname>
+        </param>
+        <briefdescription>
+<para>Set lambda. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="41" bodyend="41"/>
+        <referencedby refid="classitpp_1_1Gamma__RNG_1e132860f825f427d63652edd02c25b54" compoundref="itpp__ext_8cpp" startline="54" endline="56">Gamma_RNG</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_18e666953249038f262cece2d3ed952d6" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::get_setup</definition>
+        <argsstring>() const </argsstring>
+        <name>get_setup</name>
+        <briefdescription>
+<para>get lambda </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="43"/>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_198e2e65456bca33fca602b2bd607235e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::operator()</definition>
+        <argsstring>()</argsstring>
+        <name>operator()</name>
+        <briefdescription>
+<para>Get one sample. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="45" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="45" bodyend="45"/>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_1d407bbcda8a39e3f07cac3fdf58ca430" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec itpp::Gamma_RNG::operator()</definition>
+        <argsstring>(int n)</argsstring>
+        <name>operator()</name>
+        <param>
+          <type>int</type>
+          <declname>n</declname>
+        </param>
+        <briefdescription>
+<para>Get a sample vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="47"/>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_17b82b9d6c35579ab04f1a86a17571b47" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>mat</type>
+        <definition>mat itpp::Gamma_RNG::operator()</definition>
+        <argsstring>(int h, int w)</argsstring>
+        <name>operator()</name>
+        <param>
+          <type>int</type>
+          <declname>h</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>w</declname>
+        </param>
+        <briefdescription>
+<para>Get a sample matrix. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="49"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_1d79da7d042746e5aeb1a5b03976dda75" prot="private" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::sample</definition>
+        <argsstring>()</argsstring>
+        <name>sample</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="53" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="83" bodyend="248"/>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_1f92a9aa55ca475684f90e5038c0a71aa" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::exp_rand</definition>
+        <argsstring>()</argsstring>
+        <name>exp_rand</name>
+        <briefdescription>
+<para>compatibility with R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="62" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="62" bodyend="62"/>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_15b4e119a117c9cfbac32ee049041bdaf" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::unif_rand</definition>
+        <argsstring>()</argsstring>
+        <name>unif_rand</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="63" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="63" bodyend="63"/>
+      </memberdef>
+      <memberdef kind="function" id="classitpp_1_1Gamma__RNG_1a31b7f8351edf823932e7e7b1c18dd76" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double itpp::Gamma_RNG::norm_rand</definition>
+        <argsstring>()</argsstring>
+        <name>norm_rand</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="64" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="64" bodyend="64"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Gamma distribution. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.h" bodystart="36" bodyend="66"/>
+    <listofallmembers>
+      <member refid="classitpp_1_1Gamma__RNG_18f1b44b286dc0f2d2cd604fb44ba5955" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>alpha</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1271318dafa207cb392b1a95a10b271ee" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>beta</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1f92a9aa55ca475684f90e5038c0a71aa" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>exp_rand</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1e132860f825f427d63652edd02c25b54" prot="public" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>Gamma_RNG</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_18e666953249038f262cece2d3ed952d6" prot="public" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>get_setup</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1a31b7f8351edf823932e7e7b1c18dd76" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>norm_rand</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1af4a6b9ab9dd8fad2fe7fe7fa63192c3" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>NRNG</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_198e2e65456bca33fca602b2bd607235e" prot="public" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>operator()</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1d407bbcda8a39e3f07cac3fdf58ca430" prot="public" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>operator()</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_17b82b9d6c35579ab04f1a86a17571b47" prot="public" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>operator()</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_11d8015477d8cb406a912dce969a85b60" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>RNG</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1d79da7d042746e5aeb1a5b03976dda75" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>sample</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" prot="public" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>setup</name></member>
+      <member refid="classitpp_1_1Gamma__RNG_15b4e119a117c9cfbac32ee049041bdaf" prot="private" virt="non-virtual"><scope>itpp::Gamma_RNG</scope><name>unif_rand</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm_8h.xml
===================================================================
--- /doc/xml/pmsm_8h.xml (revision 187)
+++ /doc/xml/pmsm_8h.xml (revision 187)
@@ -0,0 +1,246 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm_8h" kind="file">
+    <compoundname>pmsm.h</compoundname>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includedby refid="pmsm__mix_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <includedby refid="pmsm__sim_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim.cpp</includedby>
+    <includedby refid="pmsm__sim2_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby>
+    <includedby refid="pmsm__sim3_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim3.cpp</includedby>
+    <includedby refid="pmsm__unkQ_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_unkQ.cpp</includedby>
+    <includedby refid="pmsm__unkQpf_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_unkQpf.cpp</includedby>
+    <includedby refid="sim__var_8cpp" local="yes">work/git/mixpp/pmsm/sim_var.cpp</includedby>
+    <includedby refid="testbidiff_8cpp" local="yes">work/git/mixpp/pmsm/testbidiff.cpp</includedby>
+    <incdepgraph>
+      <node id="563">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="562" relation="include">
+        </childnode>
+      </node>
+      <node id="560">
+        <label>work/git/mixpp/pmsm/pmsm.h</label>
+        <link refid="pmsm.h"/>
+        <childnode refid="561" relation="include">
+        </childnode>
+      </node>
+      <node id="561">
+        <label>stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="562" relation="include">
+        </childnode>
+        <childnode refid="563" relation="include">
+        </childnode>
+      </node>
+      <node id="562">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="564">
+        <label>work/git/mixpp/pmsm/pmsm.h</label>
+        <link refid="pmsm.h"/>
+        <childnode refid="565" relation="include">
+        </childnode>
+        <childnode refid="566" relation="include">
+        </childnode>
+      </node>
+      <node id="566">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="565">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classIMpmsm" prot="public">IMpmsm</innerclass>
+    <innerclass refid="classIMpmsmStat" prot="public">IMpmsmStat</innerclass>
+    <innerclass refid="classOMpmsm" prot="public">OMpmsm</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm_8h_1d82cfa6804c0679a7bd248ef045de3f8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV rx</definition>
+        <argsstring>(&quot;{ia ib om th }&quot;)</argsstring>
+        <name>rx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="7"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm_8h_125f104769603791ae5d508dcfcd0aa50" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV ru</definition>
+        <argsstring>(&quot;{ua ub }&quot;)</argsstring>
+        <name>ru</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="8"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm_8h_17961bfdfac2b069de327d4922319111e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV ry</definition>
+        <argsstring>(&quot;{oia oib }&quot;)</argsstring>
+        <name>ry</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="9"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#ifndef<sp/>PMSM_H</highlight></codeline>
+<codeline lineno="2"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>PMSM_H</highlight></codeline>
+<codeline lineno="3"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//TODO<sp/>hardcoded<sp/>RVs!!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{ia<sp/>ib<sp/>om<sp/>th<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{ua<sp/>ub<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{oia<sp/>oib<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//<sp/>class<sp/>uipmsm<sp/>:<sp/>public<sp/>uibase{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>double<sp/>Rs,<sp/>Ls,<sp/>dt,<sp/>Ypm,<sp/>kp,<sp/>p,<sp/><sp/>J,<sp/>Mz;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>};</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16" refid="classIMpmsm" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref><sp/>{</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,<sp/>Ls,<sp/>dt,<sp/>Ypm,<sp/>kp,<sp/>p,<sp/><sp/>J,<sp/>Mz;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref>()<sp/>:<ref refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" kindref="member" tooltip="Default constructor (dimy is not set!).">diffbifn</ref><sp/>(rx.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>(),<sp/>rx,<sp/>ru<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="23" refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ypm0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Mz0<sp/>)<sp/>{Rs=Rs0;<sp/>Ls=Ls0;<sp/>dt=dt0;<sp/>Ypm=Ypm0;<sp/>kp=kp0;<sp/>p=p0;<sp/>J=J0;<sp/>Mz=Mz0;}</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25" refid="classIMpmsm_145785869d978dda42828a072ec2caebe" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>last<sp/>state</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uam<sp/>=<sp/>u0<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubm<sp/>=<sp/>u0<sp/>(<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xk=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ia</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>iam<sp/>+<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>uam*dt/Ls;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ib</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>ibm<sp/>-<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>ubm*dt/Ls;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//om</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>2<sp/>)<sp/>=<sp/>omm<sp/>+<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>ibm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>)<sp/>-<sp/>p/J*dt*Mz;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//th</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>3<sp/>)<sp/>=<sp/>thm<sp/>+<sp/>omm*dt;<sp/></highlight><highlight class="comment">//<sp/>&lt;0..2pi&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>xk<sp/>(<sp/>3<sp/>)<sp/>&gt;pi<sp/>)<sp/>xk<sp/>(<sp/>3<sp/>)-=2*pi;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>xk<sp/>(<sp/>3<sp/>)<sp/>&lt;-pi<sp/>)<sp/>xk<sp/>(<sp/>3<sp/>)<sp/>+=2*pi;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>xk;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48" refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ia</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);<sp/>A<sp/>(<sp/>0,1<sp/>)<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,2<sp/>)<sp/>=<sp/>Ypm/Ls*dt*<sp/>sin<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>0,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ib</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,0<sp/>)<sp/>=<sp/>0.0<sp/>;<sp/>A<sp/>(<sp/>1,1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,2<sp/>)<sp/>=<sp/>-Ypm/Ls*dt*<sp/>cos<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>1,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>om</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,0<sp/>)<sp/>=<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,1<sp/>)<sp/>=<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,2<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,3<sp/>)<sp/>=<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-ibm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>th</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>3,0<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,1<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,2<sp/>)<sp/>=<sp/>dt;<sp/>A<sp/>(<sp/>3,3<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68" refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5" kindref="member" tooltip="Evaluates  and writes result into A .">dfdu_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;not<sp/>needed&quot;</highlight><highlight class="normal"><sp/>);};</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73" refid="classIMpmsmStat" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classIMpmsmStat" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>{</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsmStat" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</ref>()<sp/>:<ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_parameters<sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ypm0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Mz0<sp/>)<sp/>{Rs=Rs0;<sp/>Ls=Ls0;<sp/>dt=dt0;<sp/>Ypm=Ypm0;<sp/>kp=kp0;<sp/>p=p0;<sp/>J=J0;<sp/>Mz=Mz0;}</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>eval<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>last<sp/>state</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uam<sp/>=<sp/>u0<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubm<sp/>=<sp/>u0<sp/>(<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xk=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ia</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>iam<sp/>+<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>uam*dt/Ls;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ib</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>ibm<sp/>-<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>ubm*dt/Ls;</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//om</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>2<sp/>)<sp/>=<sp/>omm;</highlight><highlight class="comment">//<sp/>+<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>ibm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>)<sp/>-<sp/>p/J*dt*Mz;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//th</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>3<sp/>)<sp/>=<sp/>rem(thm<sp/>+<sp/>omm*dt,2*pi);<sp/></highlight><highlight class="comment">//<sp/>&lt;0..2pi&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>xk;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>dfdx_cond<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>double<sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>double<sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ia</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);<sp/>A<sp/>(<sp/>0,1<sp/>)<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,2<sp/>)<sp/>=<sp/>Ypm/Ls*dt*<sp/>sin<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>0,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ib</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,0<sp/>)<sp/>=<sp/>0.0<sp/>;<sp/>A<sp/>(<sp/>1,1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,2<sp/>)<sp/>=<sp/>-Ypm/Ls*dt*<sp/>cos<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>1,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>om</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,0<sp/>)<sp/>=<sp/>0.0;</highlight><highlight class="comment">//kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,1<sp/>)<sp/>=<sp/>0.0;</highlight><highlight class="comment">//kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,2<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,3<sp/>)<sp/>=<sp/>0.0;</highlight><highlight class="comment">//kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-ibm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>th</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>3,0<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,1<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,2<sp/>)<sp/>=<sp/>dt;<sp/>A<sp/>(<sp/>3,3<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>dfdu_cond<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;not<sp/>needed&quot;</highlight><highlight class="normal"><sp/>);};</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight></codeline>
+<codeline lineno="124" refid="classOMpmsm" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref><sp/>{</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref>()<sp/>:<ref refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" kindref="member" tooltip="Default constructor (dimy is not set!).">diffbifn</ref><sp/>(2,<sp/>rx,ru<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="128" refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y<sp/>(<sp/>0<sp/>)<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y<sp/>(<sp/>1<sp/>)<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>y;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135" refid="classOMpmsm_1b75b5fd55b2ac5ed74b5b953af122821" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classOMpmsm_1b75b5fd55b2ac5ed74b5b953af122821" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A.clear();</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,0<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,1<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="140"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//PMSM_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEKFfixed.xml
===================================================================
--- /doc/xml/classEKFfixed.xml (revision 187)
+++ /doc/xml/classEKFfixed.xml (revision 187)
@@ -0,0 +1,707 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEKFfixed" kind="class" prot="public">
+    <compoundname>EKFfixed</compoundname>
+    <basecompoundref refid="classBM" prot="public" virt="non-virtual">BM</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+    <includes refid="ekf__obj_8h" local="no">ekf_obj.h</includes>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classEKFfixed_1d04ddf049475a15e1ba93161aa5586ab" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::Q[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>Q</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="43" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="43" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1d914213d413b4d8f8d7bb728c5063d5e" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::R[4]</definition>
+        <argsstring>[4]</argsstring>
+        <name>R</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="44" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_17fd20a80b00e9782da676e48eb5b54b3" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::x_est[4]</definition>
+        <argsstring>[4]</argsstring>
+        <name>x_est</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_19518fa723d7324f75df7822a589ee196" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::x_pred[4]</definition>
+        <argsstring>[4]</argsstring>
+        <name>x_pred</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_10b731c546a474433c1ea6f36f0125774" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::P_pred[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>P_pred</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="48" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1b9ec9cb2d092ca3f4ad2a3b4420867ac" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::P_est[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>P_est</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="49" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_15a8040cdb8bb5dca753485dc67db3287" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::Y_mes[2]</definition>
+        <argsstring>[2]</argsstring>
+        <name>Y_mes</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_19292e43fb8e6fedfabb3a9b3c2118e33" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::ukalm[2]</definition>
+        <argsstring>[2]</argsstring>
+        <name>ukalm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="51" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="51" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1f754902bb769d3b58b89108c76d9a394" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::Kalm[8]</definition>
+        <argsstring>[8]</argsstring>
+        <name>Kalm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="52" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="52" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1bf4b3d55c8d277673bf77f37f6590217" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::PSI[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>PSI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="54" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="54" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_18a677b253b54696701c1ca0cb6f7a622" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::temp15a[16]</definition>
+        <argsstring>[16]</argsstring>
+        <name>temp15a</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="56" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="56" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_16d4354dad09286a7a209983732853c5b" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::cA</definition>
+        <argsstring></argsstring>
+        <name>cA</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="58" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1eac752adfb921c1c525f8c3b3fd15dad" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::cB</definition>
+        <argsstring></argsstring>
+        <name>cB</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="58" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_12f35ef3dce13131ae9b4427309a1d005" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::cC</definition>
+        <argsstring></argsstring>
+        <name>cC</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="58" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_150b31e70bb17cbdde2e28c83b9612c47" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::cG</definition>
+        <argsstring></argsstring>
+        <name>cG</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="58" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1086e18ad28d139b0a2c0f77badc77a9a" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int EKFfixed::cH</definition>
+        <argsstring></argsstring>
+        <name>cH</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="58" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1540046e3ab4d0bed4791f397062a626f" prot="public" static="no" mutable="no">
+        <type>long</type>
+        <definition>long EKFfixed::temp30a[4]</definition>
+        <argsstring>[4]</argsstring>
+        <name>temp30a</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="60" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="60" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_1ea92b06e2b66c6771828e689bb727b76" prot="public" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &gt;</type>
+        <definition>enorm&lt;fsqmat&gt; EKFfixed::E</definition>
+        <argsstring></argsstring>
+        <name>E</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="61" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="61" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfixed_16e5552506214757d24e59e508f91c8aa" prot="public" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat EKFfixed::Ry</definition>
+        <argsstring></argsstring>
+        <name>Ry</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="62" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEKFfixed_1cece920bbf58fc72b25a6417b3ef0259" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfixed::init_ekf</definition>
+        <argsstring>(double Tv)</argsstring>
+        <name>init_ekf</name>
+        <param>
+          <type>double</type>
+          <declname>Tv</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="34" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="135" bodyend="164"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_1491e636b259dda3b876b7bd492df6b7c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfixed::ekf</definition>
+        <argsstring>(double ux, double uy, double isxd, double isyd)</argsstring>
+        <name>ekf</name>
+        <param>
+          <type>double</type>
+          <declname>ux</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>uy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>isxd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>isyd</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="35" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="113" bodyend="133"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_1e77b35e1a11356dbfb1fdfa3017f60d3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfixed::prediction</definition>
+        <argsstring>(int *ux)</argsstring>
+        <name>prediction</name>
+        <param>
+          <type>int *</type>
+          <declname>ux</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="38" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="57" bodyend="77"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_183ed56b86a056d7dbdd6ce44145fa5f3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfixed::correction</definition>
+        <argsstring>(void)</argsstring>
+        <name>correction</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="39" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="79" bodyend="110"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_1dce43355681cfe8f1905db207b4dde8d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfixed::update_psi</definition>
+        <argsstring>(void)</argsstring>
+        <name>update_psi</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="40" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="41" bodyend="54"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_164d7b1a39c27b1846bcd5628928748ef" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EKFfixed::EKFfixed</definition>
+        <argsstring>(RV rvx, RV rvc)</argsstring>
+        <name>EKFfixed</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvc</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="66" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="66" bodyend="84"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void EKFfixed::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="86" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="10" bodyend="38"/>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" compoundref="libEF_8h" startline="103" endline="103">enorm&lt; sq_T &gt;::set_mu</references>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_1085cf16c573eda32d8d03619c6c4b518" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; EKFfixed::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>dummy! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="88" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="88" bodyend="88"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfixed_1c7fee79e75ad7f0c0e96c5a322cbf44e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void EKFfixed::condition</definition>
+        <argsstring>(const vec &amp;Q0)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="89" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="89" bodyend="96"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BMcond::_rvc</definition>
+        <argsstring>() const </argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BMcond::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>Identificator of the conditioning variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
+        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">BMcond::_rvc</referencedby>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> Filter with full matrices in fixed point arithmetic. </para>    </briefdescription>
+    <detaileddescription>
+<para>An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="944">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="943">
+        <label>EKFfixed</label>
+        <link refid="classEKFfixed"/>
+        <childnode refid="944" relation="public-inheritance">
+        </childnode>
+        <childnode refid="945" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="945">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="955">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="951" relation="public-inheritance">
+        </childnode>
+        <childnode refid="956" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="956">
+        <label>sq_T</label>
+      </node>
+      <node id="952">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="948" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="947">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="948" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="946">
+        <label>EKFfixed</label>
+        <link refid="classEKFfixed"/>
+        <childnode refid="947" relation="public-inheritance">
+        </childnode>
+        <childnode refid="949" relation="public-inheritance">
+        </childnode>
+        <childnode refid="950" relation="usage">
+          <edgelabel>E</edgelabel>
+        </childnode>
+      </node>
+      <node id="953">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="954" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="950">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="951" relation="public-inheritance">
+        </childnode>
+        <childnode refid="953" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="955" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="948">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="954">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="951">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="952" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="949">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+        <childnode refid="948" relation="usage">
+          <edgelabel>rvc</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" bodystart="32" bodyend="97"/>
+    <listofallmembers>
+      <member refid="classEKFfixed_1085cf16c573eda32d8d03619c6c4b518" prot="public" virt="virtual"><scope>EKFfixed</scope><name>_epdf</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>_ll</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>_rv</name></member>
+      <member refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>_rvc</name></member>
+      <member refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" prot="public" virt="virtual"><scope>EKFfixed</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>EKFfixed</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>BM</name></member>
+      <member refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>BMcond</name></member>
+      <member refid="classEKFfixed_16d4354dad09286a7a209983732853c5b" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>cA</name></member>
+      <member refid="classEKFfixed_1eac752adfb921c1c525f8c3b3fd15dad" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>cB</name></member>
+      <member refid="classEKFfixed_12f35ef3dce13131ae9b4427309a1d005" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>cC</name></member>
+      <member refid="classEKFfixed_150b31e70bb17cbdde2e28c83b9612c47" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>cG</name></member>
+      <member refid="classEKFfixed_1086e18ad28d139b0a2c0f77badc77a9a" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>cH</name></member>
+      <member refid="classEKFfixed_1c7fee79e75ad7f0c0e96c5a322cbf44e" prot="public" virt="virtual"><scope>EKFfixed</scope><name>condition</name></member>
+      <member refid="classEKFfixed_183ed56b86a056d7dbdd6ce44145fa5f3" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>correction</name></member>
+      <member refid="classEKFfixed_1ea92b06e2b66c6771828e689bb727b76" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>E</name></member>
+      <member refid="classEKFfixed_1491e636b259dda3b876b7bd492df6b7c" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>ekf</name></member>
+      <member refid="classEKFfixed_164d7b1a39c27b1846bcd5628928748ef" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>EKFfixed</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>EKFfixed</scope><name>evalll</name></member>
+      <member refid="classEKFfixed_1cece920bbf58fc72b25a6417b3ef0259" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>init_ekf</name></member>
+      <member refid="classEKFfixed_1f754902bb769d3b58b89108c76d9a394" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>Kalm</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>EKFfixed</scope><name>ll</name></member>
+      <member refid="classEKFfixed_1b9ec9cb2d092ca3f4ad2a3b4420867ac" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>P_est</name></member>
+      <member refid="classEKFfixed_10b731c546a474433c1ea6f36f0125774" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>P_pred</name></member>
+      <member refid="classEKFfixed_1e77b35e1a11356dbfb1fdfa3017f60d3" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>prediction</name></member>
+      <member refid="classEKFfixed_1bf4b3d55c8d277673bf77f37f6590217" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>PSI</name></member>
+      <member refid="classEKFfixed_1d04ddf049475a15e1ba93161aa5586ab" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>Q</name></member>
+      <member refid="classEKFfixed_1d914213d413b4d8f8d7bb728c5063d5e" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>EKFfixed</scope><name>rv</name></member>
+      <member refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" virt="non-virtual"><scope>EKFfixed</scope><name>rvc</name></member>
+      <member refid="classEKFfixed_16e5552506214757d24e59e508f91c8aa" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>Ry</name></member>
+      <member refid="classEKFfixed_18a677b253b54696701c1ca0cb6f7a622" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>temp15a</name></member>
+      <member refid="classEKFfixed_1540046e3ab4d0bed4791f397062a626f" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>temp30a</name></member>
+      <member refid="classEKFfixed_19292e43fb8e6fedfabb3a9b3c2118e33" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>ukalm</name></member>
+      <member refid="classEKFfixed_1dce43355681cfe8f1905db207b4dde8d" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>update_psi</name></member>
+      <member refid="classEKFfixed_17fd20a80b00e9782da676e48eb5b54b3" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>x_est</name></member>
+      <member refid="classEKFfixed_19518fa723d7324f75df7822a589ee196" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>x_pred</name></member>
+      <member refid="classEKFfixed_15a8040cdb8bb5dca753485dc67db3287" prot="public" virt="non-virtual"><scope>EKFfixed</scope><name>Y_mes</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKFfixed</scope><name>~BM</name></member>
+      <member refid="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" virt="virtual"><scope>EKFfixed</scope><name>~BMcond</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEKF__unQ.xml
===================================================================
--- /doc/xml/classEKF__unQ.xml (revision 187)
+++ /doc/xml/classEKF__unQ.xml (revision 187)
@@ -0,0 +1,1084 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEKF__unQ" kind="class" prot="public">
+    <compoundname>EKF_unQ</compoundname>
+    <basecompoundref refid="classEKFCh" prot="public" virt="non-virtual">EKFCh</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+    <basecompoundref refid="classEKFCh" prot="public" virt="non-virtual">EKFCh</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+    <basecompoundref refid="classEKFCh" prot="public" virt="non-virtual">EKFCh</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EKF_unQ::EKF_unQ</definition>
+        <argsstring>(RV rx, RV ry, RV ru, RV rQ)</argsstring>
+        <name>EKF_unQ</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ry</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ru</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rQ</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" line="26" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" bodystart="26" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void EKF_unQ::condition</definition>
+        <argsstring>(const vec &amp;Q0)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" bodystart="27" bodyend="31"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" compoundref="chmat_8h" startline="68" endline="68">chmat::setD</references>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EKF_unQ::EKF_unQ</definition>
+        <argsstring>(RV rx, RV ry, RV ru, RV rQ)</argsstring>
+        <name>EKF_unQ</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ry</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ru</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rQ</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="29" bodyend="29"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void EKF_unQ::condition</definition>
+        <argsstring>(const vec &amp;Q0)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="30" bodyend="34"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" compoundref="chmat_8h" startline="68" endline="68">chmat::setD</references>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQ_144b49058c8eb27c7910ae31a1dfd3d21" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKF_unQ::bayes</definition>
+        <argsstring>(const vec dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>const vec</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="35" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="35" bodyend="46"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EKF_unQ::EKF_unQ</definition>
+        <argsstring>(RV rx, RV ry, RV ru, RV rQ)</argsstring>
+        <name>EKF_unQ</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ry</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ru</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rQ</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQpf.cpp" line="26" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQpf.cpp" bodystart="26" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void EKF_unQ::condition</definition>
+        <argsstring>(const vec &amp;Q0)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQpf.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQpf.cpp" bodystart="27" bodyend="31"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" compoundref="chmat_8h" startline="68" endline="68">chmat::setD</references>
+      </memberdef>
+      <memberdef kind="function" id="classEKFCh_10216bed270df59fe65d0d62d41f8257c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFCh::set_parameters</definition>
+        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const chmat Q0, const chmat R0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>pfxu</declname>
+        </param>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>phxu</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref></type>
+          <declname>Q0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref></type>
+          <declname>R0</declname>
+        </param>
+        <briefdescription>
+<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="226" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="167" bodyend="186"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; chmat &gt;::_mu</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; chmat &gt;::A</references>
+        <references refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" compoundref="libKF_8h" startline="79">Kalman&lt; chmat &gt;::B</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; chmat &gt;::C</references>
+        <references refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" compoundref="libKF_8h" startline="83">Kalman&lt; chmat &gt;::D</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; chmat &gt;::dimu</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; chmat &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanCh_192fb227287af05c9f0078d523c7c9793" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void KalmanCh::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const mat &amp;B0, const mat &amp;C0, const mat &amp;D0, const chmat &amp;R0, const chmat &amp;Q0)</argsstring>
+        <name>set_parameters</name>
+        <reimplements refid="classKalman_1239b28a0380946f5749b2f8d2807f93a">set_parameters</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>R0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+<para>Set parameters with check of relevance. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="143" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="118" bodyend="125"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; chmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; chmat &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void EKFCh::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classKalmanCh_1cca758192846940409822b9bd778d4e1">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="228" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="189" bodyend="236"/>
+        <references refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" compoundref="chmat_8h" startline="66" endline="66">chmat::_Ch</references>
+        <references refid="classKalman_1d422f51467c7a06174af2476d2826132" compoundref="libKF_8h" startline="95">Kalman&lt; chmat &gt;::_K</references>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; chmat &gt;::_mu</references>
+        <references refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" compoundref="libKF_8h" startline="103">Kalman&lt; chmat &gt;::_P</references>
+        <references refid="classKalman_145c9f928d2d62e0c884900fb3380f904" compoundref="libKF_8h" startline="99">Kalman&lt; chmat &gt;::_Ry</references>
+        <references refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" compoundref="libKF_8h" startline="97">Kalman&lt; chmat &gt;::_yp</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; chmat &gt;::A</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; chmat &gt;::C</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; chmat &gt;::dimu</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; chmat &gt;::dimx</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; chmat &gt;::dimy</references>
+        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</references>
+        <references refid="classKalman_1e580ab06483952bd03f2e651763e184f" compoundref="libKF_8h" startline="92">Kalman&lt; chmat &gt;::fy</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" compoundref="libKF_8h" startline="137">KalmanCh::postA</references>
+        <references refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" compoundref="libKF_8h" startline="135">KalmanCh::preA</references>
+        <references refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" compoundref="chmat_8cpp" startline="19" endline="19">chmat::to_mat</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void KalmanCh::set_est</definition>
+        <argsstring>(const vec &amp;mu0, const chmat &amp;P0)</argsstring>
+        <name>set_est</name>
+        <reimplements refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0">set_est</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>Set estimate values, used e.g. in initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="144" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="144" bodyend="146"/>
+        <references refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" compoundref="libKF_8h" startline="90">Kalman&lt; chmat &gt;::est</references>
+        <references refid="classenorm_11394a65caa6e00d42e00cc99b12227af" compoundref="libEF_8h" startline="348" endline="352">enorm&lt; sq_T &gt;::set_parameters</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; Kalman&lt; chmat  &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="123" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; Kalman&lt; chmat  &gt;::__K</definition>
+        <argsstring>()</argsstring>
+        <name>__K</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="125" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec Kalman&lt; chmat  &gt;::_dP</definition>
+        <argsstring>()</argsstring>
+        <name>_dP</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="127" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BMcond::_rvc</definition>
+        <argsstring>() const </argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanCh::preA</definition>
+        <argsstring></argsstring>
+        <name>preA</name>
+        <briefdescription>
+<para>pre array (triangular matrix) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="135" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="135" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanCh::postA</definition>
+        <argsstring></argsstring>
+        <name>postA</name>
+        <briefdescription>
+<para>post array (triangular matrix) </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="137" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="137" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; chmat  &gt;::rvy</definition>
+        <argsstring></argsstring>
+        <name>rvy</name>
+        <briefdescription>
+<para>Indetifier of output rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; chmat  &gt;::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indetifier of exogeneous rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="69" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache of rv.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>cache of rvy.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; chmat  &gt;::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache of rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="75" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="77" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="79" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+<para>Matrix C. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="81" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Matrix D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="83" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref></type>
+        <definition>chmat  Kalman&lt; chmat  &gt;::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+<para>Matrix Q in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" compoundref="pmsm__sim_8cpp" startline="27" endline="31">condition</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref></type>
+        <definition>chmat  Kalman&lt; chmat  &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Matrix R in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="87" bodyend="-1"/>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+        <referencedby refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" compoundref="libKF_8cpp" startline="118" endline="125">KalmanCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classchmat" kindref="compound">chmat</ref> &gt;</type>
+        <definition>enorm&lt;chmat &gt; Kalman&lt; chmat  &gt;::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density on $x_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="90" bodyend="-1"/>
+        <referencedby refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" compoundref="libKF_8h" startline="144" endline="146">KalmanCh::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classchmat" kindref="compound">chmat</ref> &gt;</type>
+        <definition>enorm&lt;chmat &gt; Kalman&lt; chmat  &gt;::fy</definition>
+        <argsstring></argsstring>
+        <name>fy</name>
+        <briefdescription>
+<para>preditive density on $y_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="92" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; chmat  &gt;::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+<para>placeholder for <ref refid="classKalman" kindref="compound">Kalman</ref> gain </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="95" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; chmat  &gt;::_yp</definition>
+        <argsstring></argsstring>
+        <name>_yp</name>
+        <briefdescription>
+<para>cache of fy.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="97" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; Kalman&lt; chmat  &gt;::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+<para>cache of fy.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; chmat  &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>cache of est.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="101" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" compoundref="libKF_8cpp" startline="167" endline="186">EKFCh::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" static="no" mutable="no">
+        <type><ref refid="classchmat" kindref="compound">chmat</ref> &amp;</type>
+        <definition>chmat &amp; Kalman&lt; chmat  &gt;::_P</definition>
+        <argsstring></argsstring>
+        <name>_P</name>
+        <briefdescription>
+<para>cache of est.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="103" bodyend="-1"/>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BMcond::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>Identificator of the conditioning variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
+        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">BMcond::_rvc</referencedby>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> filter with unknown <computeroutput>Q</computeroutput>. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="879">
+        <label>EKFCh</label>
+        <link refid="classEKFCh"/>
+        <childnode refid="880" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="882">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="878">
+        <label>EKF_unQ</label>
+        <link refid="classEKF__unQ"/>
+        <childnode refid="879" relation="public-inheritance">
+        </childnode>
+        <childnode refid="884" relation="public-inheritance">
+        </childnode>
+        <childnode refid="879" relation="public-inheritance">
+        </childnode>
+        <childnode refid="884" relation="public-inheritance">
+        </childnode>
+        <childnode refid="879" relation="public-inheritance">
+        </childnode>
+        <childnode refid="884" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="880">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="881" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="881">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="882" relation="public-inheritance">
+        </childnode>
+        <childnode refid="883" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="883">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="882" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="884">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="896">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="894" relation="public-inheritance">
+        </childnode>
+        <childnode refid="897" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="886">
+        <label>EKFCh</label>
+        <link refid="classEKFCh"/>
+        <childnode refid="887" relation="public-inheritance">
+        </childnode>
+        <childnode refid="899" relation="usage">
+          <edgelabel>pfxu
+phxu</edgelabel>
+        </childnode>
+      </node>
+      <node id="897">
+        <label>sq_T</label>
+      </node>
+      <node id="895">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="890" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="889">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="890" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="890">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="885">
+        <label>EKF_unQ</label>
+        <link refid="classEKF__unQ"/>
+        <childnode refid="886" relation="public-inheritance">
+        </childnode>
+        <childnode refid="901" relation="public-inheritance">
+        </childnode>
+        <childnode refid="886" relation="public-inheritance">
+        </childnode>
+        <childnode refid="901" relation="public-inheritance">
+        </childnode>
+        <childnode refid="886" relation="public-inheritance">
+        </childnode>
+        <childnode refid="901" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="892">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="887">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="888" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="899">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="900" relation="public-inheritance">
+        </childnode>
+        <childnode refid="890" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="888">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="889" relation="public-inheritance">
+        </childnode>
+        <childnode refid="891" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="890" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+        <childnode refid="893" relation="usage">
+          <edgelabel>est
+fy</edgelabel>
+        </childnode>
+        <childnode refid="898" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="893">
+        <label>enorm&lt; chmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="894" relation="public-inheritance">
+        </childnode>
+        <childnode refid="891" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="896" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="898">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="889" relation="public-inheritance">
+        </childnode>
+        <childnode refid="897" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="890" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+      </node>
+      <node id="891">
+        <label>chmat</label>
+        <link refid="classchmat"/>
+        <childnode refid="892" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="900">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="894">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="895" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="901">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+        <childnode refid="890" relation="usage">
+          <edgelabel>rvc</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" bodystart="23" bodyend="32"/>
+    <listofallmembers>
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+      <member refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" prot="public" virt="non-virtual"><scope>EKF_unQ</scope><name>set_parameters</name></member>
+      <member refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" prot="public" virt="non-virtual" ambiguityscope="KalmanCh::"><scope>EKF_unQ</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKF_unQ</scope><name>~BM</name></member>
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+  </compounddef>
+</doxygen>
Index: /doc/xml/R__rgamma_8c.xml
===================================================================
--- /doc/xml/R__rgamma_8c.xml (revision 187)
+++ /doc/xml/R__rgamma_8c.xml (revision 187)
@@ -0,0 +1,272 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="R__rgamma_8c" kind="file">
+    <compoundname>R_rgamma.c</compoundname>
+    <includes local="yes">nmath.h</includes>
+    <incdepgraph>
+      <node id="318">
+        <label>work/git/mixpp/bdm/math/R_rgamma.c</label>
+        <link refid="R_rgamma.c"/>
+        <childnode refid="319" relation="include">
+        </childnode>
+      </node>
+      <node id="319">
+        <label>nmath.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="R__rgamma_8c_188f47a79aa968bbb4c64a245c2c14437" prot="public" static="no">
+        <name>repeat</name>
+        <initializer>for(;;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/R_rgamma.c" line="52" bodyfile="/home/smidl/work/git/mixpp/bdm/math/R_rgamma.c" bodystart="52" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="R__rgamma_8c_1a593053bf473371b1f7368b592c68b95" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double rgamma</definition>
+        <argsstring>(double a, double scale)</argsstring>
+        <name>rgamma</name>
+        <param>
+          <type>double</type>
+          <declname>a</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>scale</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/R_rgamma.c" line="55" bodyfile="/home/smidl/work/git/mixpp/bdm/math/R_rgamma.c" bodystart="54" bodyend="211"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/>*<sp/><sp/>Mathlib<sp/>:<sp/>A<sp/>C<sp/>Library<sp/>of<sp/>Special<sp/>Functions</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/>*<sp/><sp/>Copyright<sp/>(C)<sp/>1998<sp/>Ross<sp/>Ihaka</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/>*<sp/><sp/>Copyright<sp/>(C)<sp/>2000-2005<sp/>The<sp/>R<sp/>Development<sp/>Core<sp/>Team</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/>*<sp/><sp/>This<sp/>program<sp/>is<sp/>free<sp/>software;<sp/>you<sp/>can<sp/>redistribute<sp/>it<sp/>and/or<sp/>modify</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/>*<sp/><sp/>it<sp/>under<sp/>the<sp/>terms<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>as<sp/>published<sp/>by</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"><sp/>*<sp/><sp/>the<sp/>Free<sp/>Software<sp/>Foundation;<sp/>either<sp/>version<sp/>2<sp/>of<sp/>the<sp/>License,<sp/>or</highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/>*<sp/><sp/>(at<sp/>your<sp/>option)<sp/>any<sp/>later<sp/>version.</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="11"><highlight class="comment"><sp/>*<sp/><sp/>This<sp/>program<sp/>is<sp/>distributed<sp/>in<sp/>the<sp/>hope<sp/>that<sp/>it<sp/>will<sp/>be<sp/>useful,</highlight></codeline>
+<codeline lineno="12"><highlight class="comment"><sp/>*<sp/><sp/>but<sp/>WITHOUT<sp/>ANY<sp/>WARRANTY;<sp/>without<sp/>even<sp/>the<sp/>implied<sp/>warranty<sp/>of</highlight></codeline>
+<codeline lineno="13"><highlight class="comment"><sp/>*<sp/><sp/>MERCHANTABILITY<sp/>or<sp/>FITNESS<sp/>FOR<sp/>A<sp/>PARTICULAR<sp/>PURPOSE.<sp/><sp/>See<sp/>the</highlight></codeline>
+<codeline lineno="14"><highlight class="comment"><sp/>*<sp/><sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>for<sp/>more<sp/>details.</highlight></codeline>
+<codeline lineno="15"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="16"><highlight class="comment"><sp/>*<sp/><sp/>You<sp/>should<sp/>have<sp/>received<sp/>a<sp/>copy<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License</highlight></codeline>
+<codeline lineno="17"><highlight class="comment"><sp/>*<sp/><sp/>along<sp/>with<sp/>this<sp/>program;<sp/>if<sp/>not,<sp/>a<sp/>copy<sp/>is<sp/>available<sp/>at</highlight></codeline>
+<codeline lineno="18"><highlight class="comment"><sp/>*<sp/><sp/>http://www.r-project.org/Licenses/</highlight></codeline>
+<codeline lineno="19"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="20"><highlight class="comment"><sp/>*<sp/><sp/>SYNOPSIS</highlight></codeline>
+<codeline lineno="21"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="22"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/>#include<sp/>&lt;Rmath.h&gt;</highlight></codeline>
+<codeline lineno="23"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/>double<sp/>rgamma(double<sp/>a,<sp/>double<sp/>scale);</highlight></codeline>
+<codeline lineno="24"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="25"><highlight class="comment"><sp/>*<sp/><sp/>DESCRIPTION</highlight></codeline>
+<codeline lineno="26"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="27"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/>Random<sp/>variates<sp/>from<sp/>the<sp/>gamma<sp/>distribution.</highlight></codeline>
+<codeline lineno="28"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="29"><highlight class="comment"><sp/>*<sp/><sp/>REFERENCES</highlight></codeline>
+<codeline lineno="30"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="31"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/>[1]<sp/>Shape<sp/>parameter<sp/>a<sp/>&gt;=<sp/>1.<sp/><sp/>Algorithm<sp/>GD<sp/>in:</highlight></codeline>
+<codeline lineno="32"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="33"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ahrens,<sp/>J.H.<sp/>and<sp/>Dieter,<sp/>U.<sp/>(1982).</highlight></codeline>
+<codeline lineno="34"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Generating<sp/>gamma<sp/>variates<sp/>by<sp/>a<sp/>modified</highlight></codeline>
+<codeline lineno="35"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rejection<sp/>technique.</highlight></codeline>
+<codeline lineno="36"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Comm.<sp/>ACM,<sp/>25,<sp/>47-54.</highlight></codeline>
+<codeline lineno="37"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="38"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="39"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/>[2]<sp/>Shape<sp/>parameter<sp/>0<sp/>&lt;<sp/>a<sp/>&lt;<sp/>1.<sp/>Algorithm<sp/>GS<sp/>in:</highlight></codeline>
+<codeline lineno="40"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="41"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ahrens,<sp/>J.H.<sp/>and<sp/>Dieter,<sp/>U.<sp/>(1974).</highlight></codeline>
+<codeline lineno="42"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Computer<sp/>methods<sp/>for<sp/>sampling<sp/>from<sp/>gamma,<sp/>beta,</highlight></codeline>
+<codeline lineno="43"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>poisson<sp/>and<sp/>binomial<sp/>distributions.</highlight></codeline>
+<codeline lineno="44"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Computing,<sp/>12,<sp/>223-246.</highlight></codeline>
+<codeline lineno="45"><highlight class="comment"><sp/>*</highlight></codeline>
+<codeline lineno="46"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/>Input:<sp/>a<sp/>=<sp/>parameter<sp/>(mean)<sp/>of<sp/>the<sp/>standard<sp/>gamma<sp/>distribution.</highlight></codeline>
+<codeline lineno="47"><highlight class="comment"><sp/>*<sp/><sp/><sp/><sp/>Output:<sp/>a<sp/>variate<sp/>from<sp/>the<sp/>gamma(a)-distribution</highlight></codeline>
+<codeline lineno="48"><highlight class="comment"><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;nmath.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>repeat<sp/>for(;;)</highlight></codeline>
+<codeline lineno="53"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rgamma(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>scale)</highlight></codeline>
+<codeline lineno="55"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Constants<sp/>:<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sqrt32<sp/>=<sp/>5.656854;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>exp_m1<sp/>=<sp/>0.36787944117144232159;</highlight><highlight class="comment">/*<sp/>exp(-1)<sp/>=<sp/>1/e<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Coefficients<sp/>q[k]<sp/>-<sp/>for<sp/>q0<sp/>=<sp/>sum(q[k]*a^(-k))</highlight></codeline>
+<codeline lineno="61"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>*<sp/>Coefficients<sp/>a[k]<sp/>-<sp/>for<sp/>q<sp/>=<sp/>q0+(t*t/2)*sum(a[k]*v^k)</highlight></codeline>
+<codeline lineno="62"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>*<sp/>Coefficients<sp/>e[k]<sp/>-<sp/>for<sp/>exp(q)-1<sp/>=<sp/>sum(e[k]*q^k)</highlight></codeline>
+<codeline lineno="63"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q1<sp/>=<sp/>0.04166669;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q2<sp/>=<sp/>0.02083148;</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q3<sp/>=<sp/>0.00801191;</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q4<sp/>=<sp/>0.00144121;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q5<sp/>=<sp/>-7.388e-5;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q6<sp/>=<sp/>2.4511e-4;</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q7<sp/>=<sp/>2.424e-4;</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a1<sp/>=<sp/>0.3333333;</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a2<sp/>=<sp/>-0.250003;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a3<sp/>=<sp/>0.2000062;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a4<sp/>=<sp/>-0.1662921;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a5<sp/>=<sp/>0.1423657;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a6<sp/>=<sp/>-0.1367177;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a7<sp/>=<sp/>0.1233795;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>State<sp/>variables<sp/>[FIXME<sp/>for<sp/>threading!]<sp/>:*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>aa<sp/>=<sp/>0.;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>aaa<sp/>=<sp/>0.;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>s,<sp/>s2,<sp/>d;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>no.<sp/>1<sp/>(step<sp/>1)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q0,<sp/>b,<sp/>si,<sp/>c;</highlight><highlight class="comment">/*<sp/>no.<sp/>2<sp/>(step<sp/>4)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>e,<sp/>p,<sp/>q,<sp/>r,<sp/>t,<sp/>u,<sp/>v,<sp/>w,<sp/>x,<sp/>ret_val;</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(!R_FINITE(a)<sp/>||<sp/>!R_FINITE(scale)<sp/>||<sp/>a<sp/>&lt;<sp/>0.0<sp/>||<sp/>scale<sp/>&lt;=<sp/>0.0)</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ML_ERR_return_NAN;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(a<sp/>&lt;<sp/>1.)<sp/>{<sp/></highlight><highlight class="comment">/*<sp/>GS<sp/>algorithm<sp/>for<sp/>parameters<sp/>a<sp/>&lt;<sp/>1<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(a<sp/>==<sp/>0)</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0.;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>e<sp/>=<sp/>1.0<sp/>+<sp/>exp_m1<sp/>*<sp/>a;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>repeat<sp/>{</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>p<sp/>=<sp/>e<sp/>*<sp/>unif_rand();</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(p<sp/>&gt;=<sp/>1.0)<sp/>{</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>=<sp/>-log((e<sp/>-<sp/>p)<sp/>/<sp/>a);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(exp_rand()<sp/>&gt;=<sp/>(1.0<sp/>-<sp/>a)<sp/>*<sp/>log(x))</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>=<sp/>exp(log(p)<sp/>/<sp/>a);</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(exp_rand()<sp/>&gt;=<sp/>x)</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>x;</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>---<sp/>a<sp/>&gt;=<sp/>1<sp/>:<sp/>GD<sp/>algorithm<sp/>---<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>1:<sp/>Recalculations<sp/>of<sp/>s2,<sp/>s,<sp/>d<sp/>if<sp/>a<sp/>has<sp/>changed<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(a<sp/>!=<sp/>aa)<sp/>{</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>aa<sp/>=<sp/>a;</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>s2<sp/>=<sp/>a<sp/>-<sp/>0.5;</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>s<sp/>=<sp/>sqrt(s2);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>d<sp/>=<sp/>sqrt32<sp/>-<sp/>s<sp/>*<sp/>12.0;</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>2:<sp/>t<sp/>=<sp/>standard<sp/>normal<sp/>deviate,</highlight></codeline>
+<codeline lineno="120"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>=<sp/>(s,1/2)<sp/>-normal<sp/>deviate.<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>immediate<sp/>acceptance<sp/>(i)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/>t<sp/>=<sp/>norm_rand();</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/>x<sp/>=<sp/>s<sp/>+<sp/>0.5<sp/>*<sp/>t;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/>ret_val<sp/>=<sp/>x<sp/>*<sp/>x;</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t<sp/>&gt;=<sp/>0.0)</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>ret_val;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>3:<sp/>u<sp/>=<sp/>0,1<sp/>-<sp/>uniform<sp/>sample.<sp/>squeeze<sp/>acceptance<sp/>(s)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/>u<sp/>=<sp/>unif_rand();</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(d<sp/>*<sp/>u<sp/>&lt;=<sp/>t<sp/>*<sp/>t<sp/>*<sp/>t)</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>ret_val;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>4:<sp/>recalculations<sp/>of<sp/>q0,<sp/>b,<sp/>si,<sp/>c<sp/>if<sp/>necessary<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(a<sp/>!=<sp/>aaa)<sp/>{</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>aaa<sp/>=<sp/>a;</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>r<sp/>=<sp/>1.0<sp/>/<sp/>a;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q0<sp/>=<sp/>((((((q7<sp/>*<sp/>r<sp/>+<sp/>q6)<sp/>*<sp/>r<sp/>+<sp/>q5)<sp/>*<sp/>r<sp/>+<sp/>q4)<sp/>*<sp/>r<sp/>+<sp/>q3)<sp/>*<sp/>r</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>q2)<sp/>*<sp/>r<sp/>+<sp/>q1)<sp/>*<sp/>r;</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Approximation<sp/>depending<sp/>on<sp/>size<sp/>of<sp/>parameter<sp/>a<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>The<sp/>constants<sp/>in<sp/>the<sp/>expressions<sp/>for<sp/>b,<sp/>si<sp/>and<sp/>c<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>were<sp/>established<sp/>by<sp/>numerical<sp/>experiments<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(a<sp/>&lt;=<sp/>3.686)<sp/>{</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>b<sp/>=<sp/>0.463<sp/>+<sp/>s<sp/>+<sp/>0.178<sp/>*<sp/>s2;</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>si<sp/>=<sp/>1.235;</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>c<sp/>=<sp/>0.195<sp/>/<sp/>s<sp/>-<sp/>0.079<sp/>+<sp/>0.16<sp/>*<sp/>s;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(a<sp/>&lt;=<sp/>13.022)<sp/>{</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>b<sp/>=<sp/>1.654<sp/>+<sp/>0.0076<sp/>*<sp/>s2;</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>si<sp/>=<sp/>1.68<sp/>/<sp/>s<sp/>+<sp/>0.275;</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>c<sp/>=<sp/>0.062<sp/>/<sp/>s<sp/>+<sp/>0.024;</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>b<sp/>=<sp/>1.77;</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>si<sp/>=<sp/>0.75;</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>c<sp/>=<sp/>0.1515<sp/>/<sp/>s;</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>5:<sp/>no<sp/>quotient<sp/>test<sp/>if<sp/>x<sp/>not<sp/>positive<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"></highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x<sp/>&gt;<sp/>0.0)<sp/>{</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>6:<sp/>calculation<sp/>of<sp/>v<sp/>and<sp/>quotient<sp/>q<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v<sp/>=<sp/>t<sp/>/<sp/>(s<sp/>+<sp/>s);</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(v)<sp/>&lt;=<sp/>0.25)</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>+<sp/>0.5<sp/>*<sp/>t<sp/>*<sp/>t<sp/>*<sp/>((((((a7<sp/>*<sp/>v<sp/>+<sp/>a6)<sp/>*<sp/>v<sp/>+<sp/>a5)<sp/>*<sp/>v<sp/>+<sp/>a4)<sp/>*<sp/>v</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>a3)<sp/>*<sp/>v<sp/>+<sp/>a2)<sp/>*<sp/>v<sp/>+<sp/>a1)<sp/>*<sp/>v;</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>-<sp/>s<sp/>*<sp/>t<sp/>+<sp/>0.25<sp/>*<sp/>t<sp/>*<sp/>t<sp/>+<sp/>(s2<sp/>+<sp/>s2)<sp/>*<sp/>log(1.0<sp/>+<sp/>v);</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"></highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>7:<sp/>quotient<sp/>acceptance<sp/>(q)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(log(1.0<sp/>-<sp/>u)<sp/>&lt;=<sp/>q)</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>ret_val;</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/>repeat<sp/>{</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>8:<sp/>e<sp/>=<sp/>standard<sp/>exponential<sp/>deviate</highlight></codeline>
+<codeline lineno="179"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/><sp/>0,1<sp/>-uniform<sp/>deviate</highlight></codeline>
+<codeline lineno="180"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/>t<sp/>=<sp/>(b,si)-double<sp/>exponential<sp/>(laplace)<sp/>sample<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>e<sp/>=<sp/>exp_rand();</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/>unif_rand();</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/>u<sp/>+<sp/>u<sp/>-<sp/>1.0;</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(u<sp/>&lt;<sp/>0.0)</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>t<sp/>=<sp/>b<sp/>-<sp/>si<sp/>*<sp/>e;</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>t<sp/>=<sp/>b<sp/>+<sp/>si<sp/>*<sp/>e;</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/><sp/>9:<sp/><sp/>rejection<sp/>if<sp/>t<sp/>&lt;<sp/>tau(1)<sp/>=<sp/>-0.71874483771719<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t<sp/>&gt;=<sp/>-0.71874483771719)<sp/>{</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>10:<sp/><sp/>calculation<sp/>of<sp/>v<sp/>and<sp/>quotient<sp/>q<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v<sp/>=<sp/>t<sp/>/<sp/>(s<sp/>+<sp/>s);</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(v)<sp/>&lt;=<sp/>0.25)</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>+<sp/>0.5<sp/>*<sp/>t<sp/>*<sp/>t<sp/>*</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>((((((a7<sp/>*<sp/>v<sp/>+<sp/>a6)<sp/>*<sp/>v<sp/>+<sp/>a5)<sp/>*<sp/>v<sp/>+<sp/>a4)<sp/>*<sp/>v<sp/>+<sp/>a3)<sp/>*<sp/>v</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>a2)<sp/>*<sp/>v<sp/>+<sp/>a1)<sp/>*<sp/>v;</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>-<sp/>s<sp/>*<sp/>t<sp/>+<sp/>0.25<sp/>*<sp/>t<sp/>*<sp/>t<sp/>+<sp/>(s2<sp/>+<sp/>s2)<sp/>*<sp/>log(1.0<sp/>+<sp/>v);</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>11:<sp/><sp/>hat<sp/>acceptance<sp/>(h)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>(if<sp/>q<sp/>not<sp/>positive<sp/>go<sp/>to<sp/>step<sp/>8)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(q<sp/>&gt;<sp/>0.0)<sp/>{</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>w<sp/>=<sp/>expm1(q);</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/><sp/>^^^^^<sp/>original<sp/>code<sp/>had<sp/>approximation<sp/>with<sp/>rel.err<sp/>&lt;<sp/>2e-7<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>if<sp/>t<sp/>is<sp/>rejected<sp/>sample<sp/>again<sp/>at<sp/>step<sp/>8<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(c<sp/>*<sp/>fabs(u)<sp/>&lt;=<sp/>w<sp/>*<sp/>exp(e<sp/>-<sp/>0.5<sp/>*<sp/>t<sp/>*<sp/>t))</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="comment">/*<sp/>repeat<sp/>..<sp/>until<sp/><sp/>`t&apos;<sp/>is<sp/>accepted<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/>x<sp/>=<sp/>s<sp/>+<sp/>0.5<sp/>*<sp/>t;</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>x<sp/>*<sp/>x;</highlight></codeline>
+<codeline lineno="211"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/R_rgamma.c"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classAssertXercesIsAlive.xml
===================================================================
--- /doc/xml/classAssertXercesIsAlive.xml (revision 187)
+++ /doc/xml/classAssertXercesIsAlive.xml (revision 187)
@@ -0,0 +1,31 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classAssertXercesIsAlive" kind="class" prot="public">
+    <compoundname>AssertXercesIsAlive</compoundname>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+    <innerclass refid="classAssertXercesIsAlive_1_1XercesConnector" prot="private">AssertXercesIsAlive::XercesConnector</innerclass>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classAssertXercesIsAlive_1dd36033ed31fe22022e7c56c7770101e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>AssertXercesIsAlive::AssertXercesIsAlive</definition>
+        <argsstring>()</argsstring>
+        <name>AssertXercesIsAlive</name>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="78" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="77" bodyend="80"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class initializing Xerces library. </para>    </briefdescription>
+    <detaileddescription>
+<para>This class is used to initialize the Xerces library. Namely to call static method XMLPlatformUtils::Initialize(). It should be called just once, at previously to any other usage of the Xerces library. This behaviour is assured by a quite complicated design based on the use of an inner singleton class named &apos;XercesConnector&apos;. The point is to be the first initialized class even within the set of all (global) static variables. For better understanding, find instances of this class and look at their context. </para>    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="40" bodyend="81"/>
+    <listofallmembers>
+      <member refid="classAssertXercesIsAlive_1dd36033ed31fe22022e7c56c7770101e" prot="public" virt="non-virtual"><scope>AssertXercesIsAlive</scope><name>AssertXercesIsAlive</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/codingrules.xml
===================================================================
--- /doc/xml/codingrules.xml (revision 187)
+++ /doc/xml/codingrules.xml (revision 187)
@@ -0,0 +1,73 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="codingrules" kind="page">
+    <compoundname>codingrules</compoundname>
+    <title>Coding Rules (Mostly inherited from IT++)</title>
+    <detaileddescription>
+<para>In the following sections we describe the naming conventions which are used for files, classes, structures, local variables, and global variables.</para><sect1 id="codingrules_1cr_variables">
+<title>Default Naming Rules for Variables</title>
+<para>Variables are named using lower-case letters and words are separated using under-score. Abbreviations, when used in variable names, are also written with lower-case letters. Examples:</para><para><itemizedlist>
+<listitem>
+<para><computeroutput>`fft_size&apos;</computeroutput>  </para></listitem>
+<listitem>
+<para><computeroutput>`nrof_paths&apos;</computeroutput>  </para></listitem>
+<listitem>
+<para><computeroutput>`my_variable_name&apos;</computeroutput>  </para></listitem>
+</itemizedlist>
+</para><para>Some variable names or parts of variable names are commonly used in several different functions and files to denote the same thing. For instance the following common names and prefixes should be used:</para><para><itemizedlist>
+<listitem>
+<para><computeroutput>`rows&apos;</computeroutput> - number of rows in a matrix  </para></listitem>
+<listitem>
+<para><computeroutput>`cols&apos;</computeroutput> - number of columns in a matrix  </para></listitem>
+<listitem>
+<para><computeroutput>`nrof_&apos;</computeroutput> - number of ...  </para></listitem>
+</itemizedlist>
+</para></sect1>
+<sect1 id="codingrules_1cr_files">
+<title>Default Naming Rules for Files</title>
+<para>Files are named using lower-case letters and words are separated using under-score. Abbreviations, when used in file names, are also written with lower-case letters.</para><para>Source files are named using <computeroutput>`.cpp&apos;</computeroutput> suffix, whereas header files end with <computeroutput>`.h&apos;</computeroutput> extension. Examples:</para><para><itemizedlist>
+<listitem>
+<para><computeroutput>`my_file.h&apos;</computeroutput>  </para></listitem>
+<listitem>
+<para><computeroutput>`my_file.cpp&apos;</computeroutput>  </para></listitem>
+</itemizedlist>
+</para></sect1>
+<sect1 id="codingrules_1cr_functions">
+<title>Default Naming Rules for Functions</title>
+<para>Function names are named using lower-case letters and words are separated using under-score. Abbreviations, when used in function names, are also written with lower-case letters. This rule applies both to stand-alone functions as well as to member functions of classes. Example:</para><para><itemizedlist>
+<listitem>
+<para><computeroutput>int my_function_name(int a, int b)</computeroutput>  </para></listitem>
+</itemizedlist>
+</para></sect1>
+<sect1 id="codingrules_1cr_specialfunctions">
+<title>Convention for sensitive functions</title>
+<para>For efficiency, some functions may return pointers to internal variables. Such functionality is indicated by underscore as the first letter in the the name.</para><para><itemizedlist>
+<listitem>
+<para><computeroutput>mat* _internal_matrix()</computeroutput>  </para></listitem>
+</itemizedlist>
+</para></sect1>
+<sect1 id="codingrules_1cr_classes">
+<title>Default Naming Rules for Classes and Structures</title>
+<para>Each new word in a class or structure name should always start with a capital letter and the words should be separated with an under-score. Abbreviations are written with capital letters. Examples:</para><para><itemizedlist>
+<listitem>
+<para><computeroutput>`My_Class_Name&apos;</computeroutput>  </para></listitem>
+<listitem>
+<para><computeroutput>`My_Struct_Name&apos;</computeroutput>  </para></listitem>
+<listitem>
+<para><computeroutput>`OFDM&apos;</computeroutput>  </para></listitem>
+</itemizedlist>
+</para></sect1>
+<sect1 id="codingrules_1cr_classes_functionality">
+<title>Default Functionality of Classes</title>
+<para>All classes that are configured by input parameters should include:</para><para><itemizedlist>
+<listitem>
+<para>default empty constructor  </para></listitem>
+<listitem>
+<para>one or more additional constructor(s) that takes input parameters and initializes the class instance  </para></listitem>
+<listitem>
+<para>setup function, preferably named <computeroutput>`setup&apos;</computeroutput> or <computeroutput>`set_parameters&apos;</computeroutput>  </para></listitem>
+</itemizedlist>
+</para><para>Explicit destructor functions are not required, unless they are needed. It shall not be possible to use any of the other member functions unless the class has been properly initiated with the input parameters. </para></sect1>
+    </detaileddescription>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_63443739122be43962e98099350a59b8.xml
===================================================================
--- /doc/xml/dir_63443739122be43962e98099350a59b8.xml (revision 187)
+++ /doc/xml/dir_63443739122be43962e98099350a59b8.xml (revision 187)
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_63443739122be43962e98099350a59b8" kind="dir">
+    <compoundname>work/mixpp/matlab/</compoundname>
+    <innerdir refid="dir_af7d8f39e1941908690b61b05b271c43">work/mixpp/matlab/mex/</innerdir>
+    <innerfile refid="blas__test_8m">blas_test.m</innerfile>
+    <innerfile refid="blas__test2_8m">blas_test2.m</innerfile>
+    <innerfile refid="itload_8m">itload.m</innerfile>
+    <innerfile refid="itsave_8m">itsave.m</innerfile>
+    <innerfile refid="Kalman_8m">Kalman.m</innerfile>
+    <innerfile refid="KalmanSq_8m">KalmanSq.m</innerfile>
+    <innerfile refid="pmsm__disp_8m">pmsm_disp.m</innerfile>
+    <innerfile refid="pmsm__sim__disp_8m">pmsm_sim_disp.m</innerfile>
+    <innerfile refid="testKF_8m">testKF.m</innerfile>
+    <innerfile refid="testKF__big_8m">testKF_big.m</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/matlab/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/nastaveni__regulatoru__float_8h.xml
===================================================================
--- /doc/xml/nastaveni__regulatoru__float_8h.xml (revision 187)
+++ /doc/xml/nastaveni__regulatoru__float_8h.xml (revision 187)
@@ -0,0 +1,168 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="nastaveni__regulatoru__float_8h" kind="file">
+    <compoundname>nastaveni_regulatoru_float.h</compoundname>
+    <includedby refid="regulace_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp</includedby>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_1d7897c37e49be8364a1fd1702262b72b" prot="public" static="no">
+        <name>Ismax</name>
+        <initializer>40.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="14" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="14" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_1c8882337f06a374c43eb16d0be508885" prot="public" static="no">
+        <name>Kpi</name>
+        <initializer>20.</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="17" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_13e3ea04c138a4aeab30af0c8b3f9e81e" prot="public" static="no">
+        <name>Tii</name>
+        <initializer>0.005</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_132365fb2a4808089b42f412fe7db14c3" prot="public" static="no">
+        <name>MAXi</name>
+        <initializer>1199.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="19" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_13a8f990a1c729e733faad38c19b4b438" prot="public" static="no">
+        <name>Kpurm</name>
+        <initializer>50.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="22" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="22" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_19da00436f585c80347466fe8c3ba3c0c" prot="public" static="no">
+        <name>Tiurm</name>
+        <initializer>0.05</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_172a3d07230efbac58f03d4420c170dc4" prot="public" static="no">
+        <name>MINurm</name>
+        <initializer>(-0.95*Ismax)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_1bbfb453c8873d44bbd89aeb81e78722b" prot="public" static="no">
+        <name>Tfurm</name>
+        <initializer>0.01</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="25" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_1bfa19d7a61e2efc22daf83073cae7d74" prot="public" static="no">
+        <name>Kpw</name>
+        <initializer>3.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_1c2fbc4671c603f46890a6f004ca205fe" prot="public" static="no">
+        <name>Tiw</name>
+        <initializer>0.1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="nastaveni__regulatoru__float_8h_1fa3cf636e3004792891966e314edbb21" prot="public" static="no">
+        <name>MAXw</name>
+        <initializer>Ismax</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*********************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vector<sp/>control<sp/>of<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Control<sp/>system<sp/>parameters:<sp/>gains,<sp/>etc.</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*********************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Max.<sp/>motor<sp/>current</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Ismax<sp/><sp/><sp/>40.0<sp/></highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Current<sp/>controllers</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpi<sp/><sp/><sp/><sp/><sp/>20.<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="18"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tii<sp/><sp/><sp/><sp/><sp/>0.005<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="19"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXi<sp/><sp/><sp/><sp/>1199.0</highlight></codeline>
+<codeline lineno="20"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Field<sp/>weakening<sp/>-<sp/>controller<sp/>RUrm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpurm<sp/><sp/><sp/>50.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiurm<sp/><sp/><sp/>0.05<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="24"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MINurm<sp/><sp/>(-0.95*Ismax)<sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tfurm<sp/><sp/><sp/>0.01<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="26"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Speed<sp/>controller</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpw<sp/><sp/><sp/><sp/><sp/>3.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="29"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiw<sp/><sp/><sp/><sp/><sp/>0.1</highlight></codeline>
+<codeline lineno="30"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXw<sp/><sp/><sp/><sp/>Ismax</highlight></codeline>
+<codeline lineno="31"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/nastaveni_regulatoru_float.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_260a13b6a8d96e228f9f275a00d11e2c.xml
===================================================================
--- /doc/xml/dir_260a13b6a8d96e228f9f275a00d11e2c.xml (revision 187)
+++ /doc/xml/dir_260a13b6a8d96e228f9f275a00d11e2c.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_260a13b6a8d96e228f9f275a00d11e2c" kind="dir">
+    <compoundname>work/git/mixpp/pmsm/simulator_zdenek/demo_example/data/</compoundname>
+    <innerfile refid="demo__example_2data_2kresli__ladeni_8m">kresli_ladeni.m</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/data/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_11083e42d2468e54b7397ac6b90e6cd7.xml
===================================================================
--- /doc/xml/dir_11083e42d2468e54b7397ac6b90e6cd7.xml (revision 187)
+++ /doc/xml/dir_11083e42d2468e54b7397ac6b90e6cd7.xml (revision 187)
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_11083e42d2468e54b7397ac6b90e6cd7" kind="dir">
+    <compoundname>work/git/mixpp/bdm/estim/</compoundname>
+    <innerfile refid="bdm_2estim_2arx_8cpp">arx.cpp</innerfile>
+    <innerfile refid="arx_8h">arx.h</innerfile>
+    <innerfile refid="ekf__templ_8h">ekf_templ.h</innerfile>
+    <innerfile refid="libKF_8cpp">libKF.cpp</innerfile>
+    <innerfile refid="libKF_8h">libKF.h</innerfile>
+    <innerfile refid="libPF_8cpp">libPF.cpp</innerfile>
+    <innerfile refid="libPF_8h">libPF.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/regulace_8h.xml
===================================================================
--- /doc/xml/regulace_8h.xml (revision 187)
+++ /doc/xml/regulace_8h.xml (revision 187)
@@ -0,0 +1,130 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="regulace_8h" kind="file">
+    <compoundname>regulace.h</compoundname>
+    <includedby refid="regulace_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp</includedby>
+    <includedby refid="simulator_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp</includedby>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="regulace_8h_1f1ab9d3fe7fb20fb6b2e7585725e72ea" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void init_regulace</definition>
+        <argsstring>(double Ls, double Fpm, double kp, double p, double TV)</argsstring>
+        <name>init_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Ls</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Fpm</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>TV</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.h" line="13"/>
+      </memberdef>
+      <memberdef kind="function" id="regulace_8h_171d09500b31dfce56234053b946cbf34" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void vektor_regulace</definition>
+        <argsstring>(double Idw, double Iqw, double Urm_max, double Ww, double *u, double Isx, double Isy, double theta, double rychlost, double Ucn_2, double Uc, double Ucn, unsigned int rezim)</argsstring>
+        <name>vektor_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Idw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Iqw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Urm_max</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isx</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>theta</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>rychlost</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn_2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rezim</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.h" line="14"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/********************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vector<sp/>control<sp/>of<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Control<sp/>-<sp/>floating<sp/>point</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*********************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fpm,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libDS_8cpp.xml
===================================================================
--- /doc/xml/libDS_8cpp.xml (revision 187)
+++ /doc/xml/libDS_8cpp.xml (revision 187)
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libDS_8cpp" kind="file">
+    <compoundname>libDS.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libDS_8h" local="yes">libDS.h</includes>
+    <incdepgraph>
+      <node id="376">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="374" relation="include">
+        </childnode>
+      </node>
+      <node id="373">
+        <label>work/git/mixpp/bdm/stat/libDS.cpp</label>
+        <link refid="libDS.cpp"/>
+        <childnode refid="374" relation="include">
+        </childnode>
+        <childnode refid="375" relation="include">
+        </childnode>
+      </node>
+      <node id="374">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="375">
+        <label>libDS.h</label>
+        <link refid="libDS_8h"/>
+        <childnode refid="374" relation="include">
+        </childnode>
+        <childnode refid="376" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libDS_8h" kindref="compound" tooltip="Common DataSources.">libDS.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//using<sp/>namespace<sp/>itpp;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6" refid="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449" kindref="member" tooltip="Returns full vector of observed data.">MemDS::getdata</ref>(vec<sp/>&amp;dt){</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(dt.length()==rowid.length(),<sp/></highlight><highlight class="stringliteral">&quot;MemDS:getdata<sp/>incompatible<sp/>dt&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;rowid.length();i++){</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt(i)<sp/>=<sp/>Data(rowid(i),time-delays(i));</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15" refid="classMemDS_1900f1e1c9eb950f87e557c068628e60e" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449" kindref="member" tooltip="Returns full vector of observed data.">MemDS::getdata</ref>(vec<sp/>&amp;dt,ivec<sp/>&amp;indeces){</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>j,i;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(dt.length()==indeces.length(),<sp/></highlight><highlight class="stringliteral">&quot;MemDS:getdata<sp/>incompatible<sp/>dt&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;indeces.length();i++){</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>j<sp/>=<sp/>indeces<sp/>(i);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt(i)<sp/>=<sp/>Data(rowid(j),time-delays(j));</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="22"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24" refid="classMemDS_121916feb3e5ff960855c09b06a0d279b" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_121916feb3e5ff960855c09b06a0d279b" kindref="member" tooltip="Moves from  to , i.e. perfroms the actions and reads response of the system.">MemDS::step</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(time&lt;Data.cols())<sp/>{time++;}</highlight></codeline>
+<codeline lineno="26"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28" refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" kindref="member" tooltip="Method that assigns random variables to the datasource. Typically, the datasource...">MemDS::linkrvs</ref>(<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;drv,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;urv)<sp/>{</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(drv.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()==rowid.length(),</highlight><highlight class="stringliteral">&quot;MemDS::linkrvs<sp/>incompatible<sp/>drv&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(urv.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()==0,</highlight><highlight class="stringliteral">&quot;MemDS<sp/>does<sp/>not<sp/>support<sp/>urv.&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classDS_11012025a1a3a1fdd24aa48698a3d3454" kindref="member" tooltip="Observed variables, returned by getdata().">Drv</ref><sp/>=<sp/>drv;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" kindref="member" tooltip="Action variables, accepted by write().">Urv</ref><sp/>=<sp/>urv;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36" refid="classMemDS_184cfba80cb32d07be94690658175e9c4" refkind="member"><highlight class="normal"><ref refid="classMemDS_184cfba80cb32d07be94690658175e9c4" kindref="member" tooltip="Default constructor.">MemDS::MemDS</ref>(mat<sp/>&amp;Dat,<sp/>ivec<sp/>&amp;rowid,<sp/>ivec<sp/>&amp;delays){</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(max(rowid)&lt;=Dat.rows(),</highlight><highlight class="stringliteral">&quot;MemDS<sp/>rowid<sp/>is<sp/>too<sp/>high<sp/>for<sp/>given<sp/>Dat.&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(max(delays)&lt;Dat.cols(),</highlight><highlight class="stringliteral">&quot;MemDS<sp/>delays<sp/>are<sp/>too<sp/>high.&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>time<sp/>=<sp/>max(delays);<sp/></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Data<sp/>=<sp/>Dat;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ldmat__test_8cpp.xml
===================================================================
--- /doc/xml/ldmat__test_8cpp.xml (revision 187)
+++ /doc/xml/ldmat__test_8cpp.xml (revision 187)
@@ -0,0 +1,101 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ldmat__test_8cpp" kind="file">
+    <compoundname>ldmat_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libDC_8h" local="no">math/libDC.h</includes>
+    <incdepgraph>
+      <node id="828">
+        <label>work/git/mixpp/tests/ldmat_test.cpp</label>
+        <link refid="ldmat_test.cpp"/>
+        <childnode refid="829" relation="include">
+        </childnode>
+        <childnode refid="830" relation="include">
+        </childnode>
+      </node>
+      <node id="829">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="830">
+        <label>math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="829" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ldmat__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/ldmat_test.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/tests/ldmat_test.cpp" bodystart="10" bodyend="52"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libDC_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">math/libDC.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A0<sp/>=<sp/>randu(3,3);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A<sp/>=<sp/>A0*A0.T();</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>constructor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>LD(A);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Testing<sp/>constructors:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;LD.to_mat()<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>LD.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>inversion</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>iLD(3);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>LD.inv(iLD);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;inv(A)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>inv(A)<sp/>&lt;&lt;endl</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;inv(LD).to_mat()<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>iLD.to_mat()<sp/>&lt;&lt;endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>logdet</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;logdet(A)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>log(det(A))<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;logdet(LD)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>LD.logdet()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>add</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>LD2(LD);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/>LD2.add(LD);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A+A<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A+A<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;LD2.add(LD)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>LD2.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>v=randu(3);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>qform</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;vAv&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v*(A*v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;qform(LD,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>LD.qform(v)<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>invqform</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;v<sp/>inv(A)v&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v*(inv(A)*v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;invqform(LD,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>LD.invqform(v)<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>opupdate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/>LD2=LD;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/>LD2.opupdt(v,1.0);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A+vv&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A+outer_product(v,v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;opupdt(LD,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>LD2.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="52"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/ldmat_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testKF_8cpp.xml
===================================================================
--- /doc/xml/testKF_8cpp.xml (revision 187)
+++ /doc/xml/testKF_8cpp.xml (revision 187)
@@ -0,0 +1,233 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testKF_8cpp" kind="file">
+    <compoundname>testKF.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <incdepgraph>
+      <node id="872">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+      </node>
+      <node id="875">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+      </node>
+      <node id="873">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+        <childnode refid="874" relation="include">
+        </childnode>
+        <childnode refid="872" relation="include">
+        </childnode>
+        <childnode refid="875" relation="include">
+        </childnode>
+      </node>
+      <node id="871">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+        <childnode refid="872" relation="include">
+        </childnode>
+      </node>
+      <node id="869">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="876">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+        <childnode refid="874" relation="include">
+        </childnode>
+        <childnode refid="875" relation="include">
+        </childnode>
+      </node>
+      <node id="870">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+        <childnode refid="871" relation="include">
+        </childnode>
+        <childnode refid="873" relation="include">
+        </childnode>
+        <childnode refid="876" relation="include">
+        </childnode>
+      </node>
+      <node id="874">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+      </node>
+      <node id="868">
+        <label>work/git/mixpp/tests/testKF.cpp</label>
+        <link refid="testKF.cpp"/>
+        <childnode refid="869" relation="include">
+        </childnode>
+        <childnode refid="870" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testKF_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testKF.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/tests/testKF.cpp" bodystart="10" bodyend="130"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A,<sp/>B,C,D,R,Q,P0;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Mu0;;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>input<sp/>from<sp/>Matlab</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fin(<sp/></highlight><highlight class="stringliteral">&quot;testKF.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Dt;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>xxx=<sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;d&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(!xxx){<sp/>it_error(</highlight><highlight class="stringliteral">&quot;testKF.it<sp/>not<sp/>found&quot;</highlight><highlight class="normal">);}</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;Dt;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;A&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>A;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;B&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>B;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;C&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>C;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;D&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>D;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;R&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>R;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;Q&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>Q;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;P0&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>P0;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;mu0&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>Mu0;<sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu0=Mu0.get_col(0);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ndat<sp/>=<sp/>10;</highlight><highlight class="comment">//Dt.cols();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dimx<sp/>=<sp/>A.rows();</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Prepare<sp/>for<sp/>Kalman<sp/>filters<sp/>in<sp/>BDM:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx(</highlight><highlight class="stringliteral">&quot;{x<sp/>}&quot;</highlight><highlight class="normal">,vec_1(A.cols()));</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru(</highlight><highlight class="stringliteral">&quot;{u<sp/>}&quot;</highlight><highlight class="normal">,vec_1(B.cols()));</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry(</highlight><highlight class="stringliteral">&quot;{y<sp/>}&quot;</highlight><highlight class="normal">,vec_1(C.rows()));</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>LDMAT</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>Kalman&lt;ldmat&gt;<sp/>KF(rx,ry,ru);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>KF.set_parameters(A,B,C,D,ldmat(R),ldmat(Q));</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>KF.set_est(mu0,ldmat(P0)<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>epdf&amp;<sp/>KFep<sp/>=<sp/>KF._epdf();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt(2,Ndat);<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col(<sp/>0,KFep.mean()<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Chol</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh" kindref="compound" tooltip="Kalman filter in square root form.">KalmanCh</ref><sp/>KF(rx,ry,ru);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF.set_parameters(A,B,C,D,<ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>(R),<ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>(Q));</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF.set_est(mu0,<ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>(P0)<sp/>);<sp/></highlight><highlight class="comment">//prediction!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFep<sp/>=<sp/>KF._epdf();</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt(dimx,Ndat);<sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col(<sp/>0,KFep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>FSQMAT</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman&lt;ldmat&gt;</ref><sp/>KFf(rx,ry,ru);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFf.set_parameters(A,B,C,D,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(R),<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(Q));</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFf.set_est(mu0,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(P0)<sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFfep<sp/>=<sp/>KFf._epdf();</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xtf(dimx,Ndat);<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xtf.set_col(<sp/>0,KFfep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>FULL</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull" kindref="compound" tooltip="Basic Kalman filter with full matrices (education purpose only)! Will be deleted...">KalmanFull</ref><sp/>KF2(<sp/>A,B,C,D,R,Q,P0,mu0<sp/>);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt2(dimx,Ndat);<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt2.set_col(<sp/>0,mu0);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>EKF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classbilinfn" kindref="compound" tooltip="Class representing function .">bilinfn</ref><sp/>fxu(rx,ru,A,B);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classbilinfn" kindref="compound" tooltip="Class representing function .">bilinfn</ref><sp/>hxu(rx,ru,C,D);</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>KFE(rx,ry,ru);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters(&amp;fxu,&amp;hxu,Q,R);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est(mu0,<ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>(P0));</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtE(dimx,Ndat);<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_col(<sp/>0,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//test<sp/>performance<sp/>of<sp/>each<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Real_Timer<sp/>tt;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>exec_times(4);<sp/></highlight><highlight class="comment">//<sp/>KF,<sp/>KFf<sp/>KF2,<sp/>KFE</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF.bayes(<sp/>Dt.get_col(<sp/>t<sp/>));</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col(<sp/>t,KFep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times(0)<sp/>=<sp/>tt.toc();</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFf.bayes(<sp/>Dt.get_col(<sp/>t<sp/>));</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xtf.set_col(<sp/>t,KFfep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times(1)<sp/>=<sp/>tt.toc();</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF2.bayes(<sp/>Dt.get_col(<sp/>t<sp/>));</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt2.set_col(<sp/>t,KF2.mu);</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times(2)<sp/>=<sp/>tt.toc();</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes(<sp/>Dt.get_col(<sp/>t<sp/>));</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_col(<sp/>t,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times(3)<sp/>=<sp/>tt.toc();</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou(<sp/></highlight><highlight class="stringliteral">&quot;testKF_res.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;xth&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>Xt;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;xthf&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>Xtf;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;xth2&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>Xt2;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;xthE&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>XtE;</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;exec_times&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>exec_times;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testKF.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf__obj_8h.xml
===================================================================
--- /doc/xml/ekf__obj_8h.xml (revision 187)
+++ /doc/xml/ekf__obj_8h.xml (revision 187)
@@ -0,0 +1,221 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf__obj_8h" kind="file">
+    <compoundname>ekf_obj.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="fixed_8h" local="yes">fixed.h</includes>
+    <includes refid="matrix_8h" local="yes">matrix.h</includes>
+    <includes refid="reference_8h" local="yes">reference.h</includes>
+    <includes refid="parametry__motoru_8h" local="yes">parametry_motoru.h</includes>
+    <includedby refid="ekf__obj_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp</includedby>
+    <incdepgraph>
+      <node id="741">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+      </node>
+      <node id="744">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+      </node>
+      <node id="742">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+        <childnode refid="743" relation="include">
+        </childnode>
+        <childnode refid="741" relation="include">
+        </childnode>
+        <childnode refid="744" relation="include">
+        </childnode>
+      </node>
+      <node id="740">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+        <childnode refid="741" relation="include">
+        </childnode>
+      </node>
+      <node id="748">
+        <label>reference.h</label>
+        <link refid="reference_8h-source"/>
+      </node>
+      <node id="738">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="746">
+        <label>fixed.h</label>
+        <link refid="fixed_8h-source"/>
+      </node>
+      <node id="745">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+        <childnode refid="743" relation="include">
+        </childnode>
+        <childnode refid="744" relation="include">
+        </childnode>
+      </node>
+      <node id="739">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+        <childnode refid="740" relation="include">
+        </childnode>
+        <childnode refid="742" relation="include">
+        </childnode>
+        <childnode refid="745" relation="include">
+        </childnode>
+      </node>
+      <node id="743">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+      </node>
+      <node id="747">
+        <label>matrix.h</label>
+        <link refid="matrix_8h-source"/>
+      </node>
+      <node id="749">
+        <label>parametry_motoru.h</label>
+        <link refid="parametry__motoru_8h-source"/>
+      </node>
+      <node id="737">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf_obj.h"/>
+        <childnode refid="738" relation="include">
+        </childnode>
+        <childnode refid="739" relation="include">
+        </childnode>
+        <childnode refid="746" relation="include">
+        </childnode>
+        <childnode refid="747" relation="include">
+        </childnode>
+        <childnode refid="748" relation="include">
+        </childnode>
+        <childnode refid="749" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classEKFfixed" prot="public">EKFfixed</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ekf__obj_8h_120a104802ddcb544b8de3fe3e5e03253" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double minQ</definition>
+        <argsstring>(double Q)</argsstring>
+        <name>minQ</name>
+        <param>
+          <type>double</type>
+          <declname>Q</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp" bodystart="7" bodyend="7"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Bayesian Filtering for linear Gaussian models (<ref refid="classKalman" kindref="compound">Kalman</ref> Filter) and extensions. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>EKFfix_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>EKFfix_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;fixed.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;matrix.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;reference.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;parametry_motoru.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>minQ(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Q);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32" refid="classEKFfixed" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKFfixed" kindref="compound" tooltip="Extended Kalman Filter with full matrices in fixed point arithmetic.">EKFfixed</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Tv);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ux,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isxd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isyd);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Declaration<sp/>of<sp/>local<sp/>functions<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>prediction(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*ux);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>correction(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>update_psi(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Constants<sp/>-<sp/>definovat<sp/>jako<sp/>konstanty<sp/>??<sp/>?kde<sp/>je<sp/>vyhodnejsi<sp/>aby<sp/>v<sp/>pameti<sp/>byli?*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Q[16];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>R[4];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[2,2]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x_est[4];</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x_pred[4];</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>P_pred[16];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>P_est[16];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Y_mes[2];</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ukalm[2];</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Kalm[8];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[5,2]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>PSI[16];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[4,4]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>temp15a[16];</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>cA,<sp/>cB,<sp/>cC,<sp/>cG,<sp/>cH;<sp/><sp/></highlight><highlight class="comment">//<sp/>cD,<sp/>cE,<sp/>cF,<sp/>cI<sp/>...<sp/>nepouzivane</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>temp30a[4];<sp/></highlight><highlight class="comment">/*<sp/>matrix<sp/>[2,2]<sp/>-<sp/>temporary<sp/>matrix<sp/>for<sp/>inversion<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm&lt;fsqmat&gt;</ref><sp/>E;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/>mat<sp/>Ry;</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="66" refid="classEKFfixed_164d7b1a39c27b1846bcd5628928748ef" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfixed_164d7b1a39c27b1846bcd5628928748ef" kindref="member" tooltip="Default constructor.">EKFfixed</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" kindref="member" tooltip="Identificator of the conditioning variable.">rvc</ref><sp/>):<ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref>(rvx),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref>(rvc),E(rvx),Ry(2,2){</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;16;i++){Q[i]=0;}</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;4;i++){R[i]=0;}</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;4;i++){x_est[i]=0;}</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;4;i++){x_pred[i]=0;}</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;16;i++){P_pred[i]=0;}</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;16;i++){P_est[i]=0;}</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/>P_est[0]=0x7FFF;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/>P_est[5]=0x7FFF;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/>P_est[10]=0x7FFF;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/>P_est[15]=0x7FFF;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;2;i++){Y_mes[i]=0;}</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;2;i++){ukalm[i]=0;}</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;8;i++){Kalm[i]=0;}</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(i=0;i&lt;16;i++){PSI[i]=0;}</highlight></codeline>
+<codeline lineno="84"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="88" refid="classEKFfixed_1085cf16c573eda32d8d03619c6c4b518" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/><ref refid="classEKFfixed_1085cf16c573eda32d8d03619c6c4b518" kindref="member" tooltip="dummy!">_epdf</ref>(){</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>E;};</highlight></codeline>
+<codeline lineno="89" refid="classEKFfixed_1c7fee79e75ad7f0c0e96c5a322cbf44e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfixed_1c7fee79e75ad7f0c0e96c5a322cbf44e" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q[0]=prevod(minQ(Q0(0)),15);<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>0.05</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q[5]=prevod(minQ(Q0(1)),15);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q[10]=prevod(minQ(Q0(2)),15);<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1e-3</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q[15]=prevod(minQ(Q0(3)),15);<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1e-3</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="97"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>KF_H</highlight></codeline>
+<codeline lineno="101"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/matrix_8cpp.xml
===================================================================
--- /doc/xml/matrix_8cpp.xml (revision 187)
+++ /doc/xml/matrix_8cpp.xml (revision 187)
@@ -0,0 +1,980 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="matrix_8cpp" kind="file">
+    <compoundname>matrix.cpp</compoundname>
+    <includes refid="matrix_8h" local="yes">matrix.h</includes>
+    <incdepgraph>
+      <node id="757">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp</label>
+        <link refid="matrix.cpp"/>
+        <childnode refid="758" relation="include">
+        </childnode>
+      </node>
+      <node id="758">
+        <label>matrix.h</label>
+        <link refid="matrix_8h-source"/>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="matrix_8cpp_1dc97517fcf76dba18a7b7eadbf485783" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void madd</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columns)</argsstring>
+        <name>madd</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="79" bodyend="86"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1eb7b1130cdfdad80c1f6ff08bdabcd9e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void maddD</definition>
+        <argsstring>(int *m1, int *m2, unsigned int minrowcol, unsigned int columns)</argsstring>
+        <name>maddD</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="90" bodyend="102"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1fc147fb81a107ed3d11edce11680c73b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void msub</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columns)</argsstring>
+        <name>msub</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="105" bodyend="112"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_10dd80217f9ca5906058c49a7383a4498" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmult</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmult</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="116" bodyend="147"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1aad8e0b5c84bc2ef9c3442d7904493b7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultt</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmultt</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="151" bodyend="178"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_180321ddd04c2295a7898aaac3e1f7ca7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmult15</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmult15</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="36" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="182" bodyend="212"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_17b21ce82e50b9491450fbe8f0ba45830" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultt15</definition>
+        <argsstring>(int *m1, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmultt15</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="41" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="216" bodyend="242"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1acfc7e3b42ad50e39b11f11753b749f6" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmult1530</definition>
+        <argsstring>(int *m1, long *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns)</argsstring>
+        <name>mmult1530</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>long *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="246" bodyend="277"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1ff076c1db8aa1be1797eede839441da8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDl</definition>
+        <argsstring>(int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDl</name>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="51" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="282" bodyend="297"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1094cd71f8538a5e9375f0ab2759b688d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDl15</definition>
+        <argsstring>(int *DIAG, int *m2, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDl15</name>
+        <param>
+          <type>int *</type>
+          <declname>DIAG</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>m2</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="56" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="302" bodyend="321"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1ececc21a99cfdc6238b5fbe1a0e61bb4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDr</definition>
+        <argsstring>(int *m1, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDr</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="61" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="326" bodyend="346"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_1001bd19384a1c2f9fb3450c4f3476fa4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmultDr15</definition>
+        <argsstring>(int *m1, int *DIAG, int *result, unsigned int rows, unsigned int columnsx, unsigned int columns, unsigned int minrowcol)</argsstring>
+        <name>mmultDr15</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>DIAG</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columnsx</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>minrowcol</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="66" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="352" bodyend="377"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_10803daba60892817dd95383f10e2b501" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mtrans</definition>
+        <argsstring>(int *m1, int *result, unsigned int rows, unsigned int columns)</argsstring>
+        <name>mtrans</name>
+        <param>
+          <type>int *</type>
+          <declname>m1</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rows</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="69" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="381" bodyend="388"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_16281b33c494f55a0e1f56cc6ec226728" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void minv2</definition>
+        <argsstring>(int *matrix, long *result)</argsstring>
+        <name>minv2</name>
+        <param>
+          <type>int *</type>
+          <declname>matrix</declname>
+        </param>
+        <param>
+          <type>long *</type>
+          <declname>result</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="72" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="391" bodyend="403"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_14cf0ac2cd86f2dfd9c984ae7599bad65" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void choice_P</definition>
+        <argsstring>(int *m, int *result, unsigned int columns)</argsstring>
+        <name>choice_P</name>
+        <param>
+          <type>int *</type>
+          <declname>m</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>columns</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="74" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="406" bodyend="412"/>
+      </memberdef>
+      <memberdef kind="function" id="matrix_8cpp_117f6067daa5a602765f81590b8c69189" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void choice_x</definition>
+        <argsstring>(int *m, int *result)</argsstring>
+        <name>choice_x</name>
+        <param>
+          <type>int *</type>
+          <declname>m</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>result</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" line="75" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp" bodystart="415" bodyend="419"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Extended<sp/>Kalman<sp/>Filter</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Matrix<sp/>operations</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">15.3.<sp/>2008<sp/><sp/><sp/><sp/><sp/><sp/>Kompletni<sp/>kontrola<sp/>vypoctu<sp/>+<sp/>zamena<sp/>q15-&gt;int<sp/>a<sp/>q30-&gt;long</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;matrix.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Vsechny<sp/>meze<sp/>se<sp/>udavaji<sp/>ve<sp/>tvaru<sp/>(rozmer_matice<sp/>-<sp/>1),<sp/>abych<sp/>mel<sp/>ve<sp/>FOR<sp/>konstantni<sp/>horni<sp/>mez)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>addition<sp/>in<sp/>q15:<sp/>m1<sp/>+<sp/>m2<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>madd(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>add<sp/>diagonal<sp/>matrix<sp/>m2<sp/>to<sp/>matrix<sp/>m1<sp/>-<sp/>both<sp/>in<sp/>format<sp/>q15,<sp/>minrowcol<sp/>=<sp/>min(rows,<sp/>columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>maddD(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>substraction<sp/>in<sp/>q15:<sp/>m1<sp/>-<sp/>m2<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>msub(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiply<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*(m2[columnsx,columns]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>sum<sp/>is<sp/>in<sp/>q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15<sp/>(sum<sp/>is<sp/>in<sp/>q15):<sp/>m1[rows,columnsx]*(m2[columns,columnsx]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>-<sp/>Q15<sp/>*<sp/>Q30<sp/>format<sp/>-&gt;<sp/>RESULT<sp/>in<sp/>Q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult1530(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal">columns);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="49"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="54"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="59"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]</highlight></codeline>
+<codeline lineno="64"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>transposition<sp/>in<sp/>q15:<sp/>m1.&apos;<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mtrans(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>[2,2]<sp/>inversion<sp/>in<sp/>q15:<sp/>inv(m1)<sp/>=<sp/>result[rows,<sp/>columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>minv2(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*matrix,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*result);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_P(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_x(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>addition<sp/>in<sp/>q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>madd(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns)</highlight></codeline>
+<codeline lineno="80"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++<sp/>=<sp/>*m1++<sp/>+<sp/>*m2++;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>add<sp/>diagonal<sp/>matrix<sp/>m2<sp/>to<sp/>matrix<sp/>m1<sp/>-<sp/>both<sp/>in<sp/>format<sp/>q15,<sp/>minrowcol<sp/>=<sp/>min(rows,<sp/>columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>maddD(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns)</highlight></codeline>
+<codeline lineno="91"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=minrowcol;<sp/>i++)</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/>*(m1+i*(columns+1)+i)<sp/>+=<sp/>*(m2+i*(columns+1)+i);<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/>*m1<sp/>+=<sp/>*m2;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columns+2);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/>m2+=(columns+2);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>substraction<sp/>in<sp/>q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>msub(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns)</highlight></codeline>
+<codeline lineno="106"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++<sp/>=<sp/>*m1++<sp/>-<sp/>*m2++;</highlight></codeline>
+<codeline lineno="112"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>multiplication<sp/>in<sp/>q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal">columns)</highlight></codeline>
+<codeline lineno="118"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j,<sp/>k;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2pom;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m2pom=m2+j;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(k=0;<sp/>k&lt;=columnsx;<sp/>k++)</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum+=(long)(*m1++)**m2pom;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>m2pom+=columns+1;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>effect</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=tmp_sum&gt;&gt;15;</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&gt;32767)<sp/>tmp_sum=32767;</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&lt;-32768)<sp/>tmp_sum=-32768;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=tmp_sum;</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m1-=(columnsx+1);</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columnsx+1);</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="147"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*(m2[columns,columnsx]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal">columns)</highlight></codeline>
+<codeline lineno="153"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j,<sp/>k;</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2pom=m2;</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(k=0;<sp/>k&lt;=columnsx;<sp/>k++)</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum+=(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal">)(*m1++)*(*m2pom++);</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>effect</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=tmp_sum&gt;&gt;15;</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&gt;32767)<sp/>tmp_sum=32767;</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&lt;-32768)<sp/>tmp_sum=-32768;</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=tmp_sum;</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m1-=(columnsx+1);</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/>m2pom=m2;</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columnsx+1);</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="178"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>multiplication<sp/>in<sp/>q15:<sp/>sum<sp/>is<sp/>in<sp/>q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="182"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal">columns)</highlight></codeline>
+<codeline lineno="184"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j,<sp/>k;</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2pom;</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"></highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m2pom=m2+j;</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"></highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(k=0;<sp/>k&lt;=columnsx;<sp/>k++)</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum+=((long)(*m1++)**m2pom)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>m2pom+=columns+1;</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>effect</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&gt;32767)<sp/>tmp_sum=32767;</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&lt;-32768)<sp/>tmp_sum=-32768;</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=tmp_sum;</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"></highlight></codeline>
+<codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m1-=(columnsx+1);</highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columnsx+1);</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="212"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"></highlight></codeline>
+<codeline lineno="214"><highlight class="normal"></highlight></codeline>
+<codeline lineno="215"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>in<sp/>q15<sp/>(sum<sp/>is<sp/>in<sp/>q15):<sp/>m1[rows,columnsx]*(m2[columns,columnsx]transpose)<sp/>=<sp/>result[rows,columns]<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="216"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultt15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal">columns)</highlight></codeline>
+<codeline lineno="218"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j,<sp/>k;</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2pom=m2;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(k=0;<sp/>k&lt;=columnsx;<sp/>k++)</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum+=((</highlight><highlight class="keywordtype">long</highlight><highlight class="normal">)(*m1++)*(*m2pom++))&gt;&gt;15;</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"></highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>effect</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&gt;32767)<sp/>tmp_sum=32767;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&lt;-32768)<sp/>tmp_sum=-32768;</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"></highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=tmp_sum;</highlight></codeline>
+<codeline lineno="235"><highlight class="normal"></highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m1-=(columnsx+1);</highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/>m2pom=m2;</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columnsx+1);</highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="242"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"></highlight></codeline>
+<codeline lineno="244"><highlight class="normal"></highlight></codeline>
+<codeline lineno="245"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Matrix<sp/>multiplication<sp/>-<sp/>Q15<sp/>*<sp/>Q30<sp/>format<sp/>-&gt;<sp/>RESULT<sp/>in<sp/>Q15<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="246"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmult1530(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="247"><highlight class="normal">columns)</highlight></codeline>
+<codeline lineno="248"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j,<sp/>k;</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*m2pom;</highlight></codeline>
+<codeline lineno="252"><highlight class="normal"></highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m2pom=m2+j;</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"></highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(k=0;<sp/>k&lt;=columnsx;<sp/>k++)</highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum+=(long)(*m1++)**m2pom;</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>m2pom+=columns+1;</highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"></highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>effect</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=tmp_sum&gt;&gt;15;</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&gt;32767)<sp/>tmp_sum=32767;</highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_sum&lt;-32768)<sp/>tmp_sum=-32768;</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"></highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=tmp_sum;</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"></highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>tmp_sum=0;</highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>m1-=(columnsx+1);</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columnsx+1);</highlight></codeline>
+<codeline lineno="276"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="277"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/></highlight></codeline>
+<codeline lineno="279"><highlight class="normal"></highlight></codeline>
+<codeline lineno="280"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]<sp/></highlight></codeline>
+<codeline lineno="281"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="282"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="283"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol)</highlight></codeline>
+<codeline lineno="284"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="285"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="286"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>int<sp/>*res_tmp=result;<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="288"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>This<sp/>erase<sp/>sequence<sp/>have<sp/>to<sp/>be<sp/>enabled<sp/>in<sp/>case<sp/>that<sp/>result<sp/>matrix<sp/>has<sp/>more<sp/>terms<sp/>than<sp/>DIAG<sp/>matrix<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="289"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>for<sp/>(i=0;i&lt;=rows;i++)<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="290"><highlight class="comment"><sp/><sp/><sp/><sp/>for<sp/>(j=0;j&lt;=columns;j++)</highlight></codeline>
+<codeline lineno="291"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/>*res_tmp++=0;</highlight></codeline>
+<codeline lineno="292"><highlight class="comment">/*<sp/>END<sp/>OF<sp/>ERASE<sp/>SEQUENCE<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="293"><highlight class="normal"></highlight></codeline>
+<codeline lineno="294"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;=minrowcol;i++)</highlight></codeline>
+<codeline lineno="295"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;j&lt;=columns;j++)</highlight></codeline>
+<codeline lineno="296"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=*m2++;</highlight></codeline>
+<codeline lineno="297"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="298"><highlight class="normal"></highlight></codeline>
+<codeline lineno="299"><highlight class="normal"></highlight></codeline>
+<codeline lineno="300"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Left<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>DIAG[rows,columnsx]*m2[columnsx,columns]<sp/>=<sp/>result[rows,columns]<sp/></highlight></codeline>
+<codeline lineno="301"><highlight class="comment">minrowcol=minimum(rows,<sp/>columnsx)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="302"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDl15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="303"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol)</highlight></codeline>
+<codeline lineno="304"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="306"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>int<sp/>*res_tmp=result;<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="307"><highlight class="normal"></highlight></codeline>
+<codeline lineno="308"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>This<sp/>erase<sp/>sequence<sp/>have<sp/>to<sp/>be<sp/>enabled<sp/>in<sp/>case<sp/>that<sp/>result<sp/>matrix<sp/>has<sp/>more<sp/>terms<sp/>than<sp/>DIAG<sp/>matrix<sp/>*/</highlight><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="309"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>for<sp/>(i=0;i&lt;=rows;i++)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="310"><highlight class="comment"><sp/><sp/><sp/><sp/>for<sp/>(j=0;j&lt;=columns;j++)</highlight></codeline>
+<codeline lineno="311"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/>*res_tmp++=0;</highlight></codeline>
+<codeline lineno="312"><highlight class="comment">/*<sp/>END<sp/>OF<sp/>ERASE<sp/>SEQUENCE<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="313"><highlight class="normal"></highlight></codeline>
+<codeline lineno="314"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;=minrowcol;i++)</highlight></codeline>
+<codeline lineno="315"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="316"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;j&lt;=columns;j++)</highlight></codeline>
+<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=((</highlight><highlight class="keywordtype">long</highlight><highlight class="normal">)(*DIAG)*(*m2++))&gt;&gt;15;</highlight></codeline>
+<codeline lineno="318"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="319"><highlight class="normal"><sp/><sp/><sp/><sp/>DIAG+=(columnsx+1);</highlight></codeline>
+<codeline lineno="320"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="321"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="322"><highlight class="normal"></highlight></codeline>
+<codeline lineno="323"><highlight class="normal"></highlight></codeline>
+<codeline lineno="324"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>ones<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]<sp/></highlight></codeline>
+<codeline lineno="325"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="326"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="327"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol)</highlight></codeline>
+<codeline lineno="328"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="329"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="330"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>int<sp/>*res_tmp=result;<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="331"><highlight class="normal"></highlight></codeline>
+<codeline lineno="332"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>This<sp/>erase<sp/>sequence<sp/>have<sp/>to<sp/>be<sp/>enabled<sp/>in<sp/>case<sp/>that<sp/>result<sp/>matrix<sp/>has<sp/>more<sp/>terms<sp/>than<sp/>DIAG<sp/>matrix<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="333"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>for<sp/>(i=0;i&lt;=rows;i++)</highlight></codeline>
+<codeline lineno="334"><highlight class="comment"><sp/><sp/><sp/><sp/>for<sp/>(j=0;j&lt;=columns;j++)</highlight></codeline>
+<codeline lineno="335"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/>*res_tmp++=0;</highlight></codeline>
+<codeline lineno="336"><highlight class="comment">/*<sp/>END<sp/>OF<sp/>ERASE<sp/>SEQUENCE<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="337"><highlight class="normal"></highlight></codeline>
+<codeline lineno="338"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;=rows;i++)</highlight></codeline>
+<codeline lineno="339"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="340"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;j&lt;=minrowcol;j++)</highlight></codeline>
+<codeline lineno="341"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=*m1++;</highlight></codeline>
+<codeline lineno="342"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="343"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columnsx-minrowcol);</highlight></codeline>
+<codeline lineno="344"><highlight class="normal"><sp/><sp/><sp/><sp/>result+=(columns-minrowcol);</highlight></codeline>
+<codeline lineno="345"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="346"><highlight class="normal">}<sp/><sp/></highlight></codeline>
+<codeline lineno="347"><highlight class="normal"></highlight></codeline>
+<codeline lineno="348"><highlight class="normal"></highlight></codeline>
+<codeline lineno="349"><highlight class="normal"></highlight></codeline>
+<codeline lineno="350"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Right<sp/>matrix<sp/>multiplication<sp/>with<sp/>DIAG<sp/>matrix<sp/>in<sp/>q15:<sp/>m1[rows,columnsx]*DIAG[columnsx,columns]<sp/>=<sp/>result[rows,columns]<sp/></highlight></codeline>
+<codeline lineno="351"><highlight class="comment">minrowcol=minimum(columnsx,columns)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="352"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mmultDr15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columnsx,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="353"><highlight class="normal">columns,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>minrowcol)</highlight></codeline>
+<codeline lineno="354"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="355"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="356"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*DIAG_tmp=DIAG;</highlight></codeline>
+<codeline lineno="357"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>int<sp/>*res_tmp=result;<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="358"><highlight class="normal"></highlight></codeline>
+<codeline lineno="359"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>This<sp/>erase<sp/>sequence<sp/>have<sp/>to<sp/>be<sp/>enabled<sp/>in<sp/>case<sp/>that<sp/>result<sp/>matrix<sp/>has<sp/>more<sp/>terms<sp/>than<sp/>DIAG<sp/>matrix<sp/>*/</highlight><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="360"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>for<sp/>(i=0;i&lt;=rows;i++)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="361"><highlight class="comment"><sp/><sp/><sp/><sp/>for<sp/>(j=0;j&lt;=columns;j++)</highlight></codeline>
+<codeline lineno="362"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/>*res_tmp++=0;</highlight></codeline>
+<codeline lineno="363"><highlight class="comment">/*<sp/>END<sp/>OF<sp/>ERASE<sp/>SEQUENCE<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="364"><highlight class="normal"></highlight></codeline>
+<codeline lineno="365"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;=rows;i++)</highlight></codeline>
+<codeline lineno="366"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="367"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;j&lt;=minrowcol;j++)</highlight></codeline>
+<codeline lineno="368"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="369"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=((long)(*m1++)**DIAG_tmp)&gt;&gt;15;</highlight></codeline>
+<codeline lineno="370"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>DIAG_tmp+=columns+2;</highlight></codeline>
+<codeline lineno="371"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="372"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="373"><highlight class="normal"><sp/><sp/><sp/><sp/>DIAG_tmp=DIAG;</highlight></codeline>
+<codeline lineno="374"><highlight class="normal"><sp/><sp/><sp/><sp/>m1+=(columnsx-minrowcol);</highlight></codeline>
+<codeline lineno="375"><highlight class="normal"><sp/><sp/><sp/><sp/>result+=(columns-minrowcol);</highlight></codeline>
+<codeline lineno="376"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="377"><highlight class="normal">}<sp/><sp/></highlight></codeline>
+<codeline lineno="378"><highlight class="normal"></highlight></codeline>
+<codeline lineno="379"><highlight class="normal"></highlight></codeline>
+<codeline lineno="380"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>transposition<sp/>-<sp/>neni<sp/>optimalizovana,<sp/>protoze<sp/>se<sp/>nepouziva<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="381"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mtrans(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rows,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns)</highlight></codeline>
+<codeline lineno="382"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="383"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,<sp/>j;</highlight></codeline>
+<codeline lineno="384"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="385"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;<sp/>i&lt;=rows;<sp/>i++)</highlight></codeline>
+<codeline lineno="386"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(j=0;<sp/>j&lt;=columns;<sp/>j++)</highlight></codeline>
+<codeline lineno="387"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>*result++=*(m1+(columns+1)*j+i);</highlight></codeline>
+<codeline lineno="388"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="389"><highlight class="normal"></highlight></codeline>
+<codeline lineno="390"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>matrix<sp/>[2,2]<sp/>inversion<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="391"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>minv2(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*matrix,<sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>*result)</highlight></codeline>
+<codeline lineno="392"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="393"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>det;</highlight></codeline>
+<codeline lineno="394"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="395"><highlight class="normal"></highlight></codeline>
+<codeline lineno="396"><highlight class="normal"><sp/><sp/>det=((long)*matrix**(matrix+3)-(long)*(matrix+1)**(matrix+2))&gt;&gt;15;</highlight></codeline>
+<codeline lineno="397"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(det==0)<sp/>det=1;</highlight></codeline>
+<codeline lineno="398"><highlight class="normal"></highlight></codeline>
+<codeline lineno="399"><highlight class="normal"><sp/><sp/>*result++=(((long)*(matrix+3))&lt;&lt;15)/det;</highlight></codeline>
+<codeline lineno="400"><highlight class="normal"><sp/><sp/>*result++=(((long)*(matrix+1))&lt;&lt;15)/det;</highlight></codeline>
+<codeline lineno="401"><highlight class="normal"><sp/><sp/>*result++=(((long)*(matrix+2))&lt;&lt;15)/det;</highlight></codeline>
+<codeline lineno="402"><highlight class="normal"><sp/><sp/>*result++=(((long)*matrix)&lt;&lt;15)/det;</highlight></codeline>
+<codeline lineno="403"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="404"><highlight class="normal"></highlight></codeline>
+<codeline lineno="405"><highlight class="normal"></highlight></codeline>
+<codeline lineno="406"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_P(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>columns)</highlight></codeline>
+<codeline lineno="407"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="408"><highlight class="normal"><sp/><sp/>*result++=*m;</highlight></codeline>
+<codeline lineno="409"><highlight class="normal"><sp/><sp/>*result++=*(m+1);</highlight></codeline>
+<codeline lineno="410"><highlight class="normal"><sp/><sp/>*result++=*(m+columns+1);</highlight></codeline>
+<codeline lineno="411"><highlight class="normal"><sp/><sp/>*result++=*(m+columns+2);</highlight></codeline>
+<codeline lineno="412"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="413"><highlight class="normal"></highlight></codeline>
+<codeline lineno="414"><highlight class="normal"></highlight></codeline>
+<codeline lineno="415"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>choice_x(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*result)</highlight></codeline>
+<codeline lineno="416"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="417"><highlight class="normal"><sp/><sp/>*result++=*m++;</highlight></codeline>
+<codeline lineno="418"><highlight class="normal"><sp/><sp/>*result=*m;</highlight></codeline>
+<codeline lineno="419"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="420"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/matrix.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_6dff9d17d7528c4cfcadf5176b9e3a6a.xml
===================================================================
--- /doc/xml/dir_6dff9d17d7528c4cfcadf5176b9e3a6a.xml (revision 187)
+++ /doc/xml/dir_6dff9d17d7528c4cfcadf5176b9e3a6a.xml (revision 187)
@@ -0,0 +1,23 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_6dff9d17d7528c4cfcadf5176b9e3a6a" kind="dir">
+    <compoundname>work/git/mixpp/pmsm/</compoundname>
+    <innerdir refid="dir_24b2ca2d1ebd811865a0eb87dcd74770">work/git/mixpp/pmsm/simulator_zdenek/</innerdir>
+    <innerfile refid="pmsm_8h">pmsm.h</innerfile>
+    <innerfile refid="pmsm__mix_8cpp">pmsm_mix.cpp</innerfile>
+    <innerfile refid="pmsm__sim_8cpp">pmsm_sim.cpp</innerfile>
+    <innerfile refid="pmsm__sim2_8cpp">pmsm_sim2.cpp</innerfile>
+    <innerfile refid="pmsm__sim3_8cpp">pmsm_sim3.cpp</innerfile>
+    <innerfile refid="pmsm__unkQ_8cpp">pmsm_unkQ.cpp</innerfile>
+    <innerfile refid="pmsm__unkQpf_8cpp">pmsm_unkQpf.cpp</innerfile>
+    <innerfile refid="sim__profiles_8h">sim_profiles.h</innerfile>
+    <innerfile refid="sim__var_8cpp">sim_var.cpp</innerfile>
+    <innerfile refid="sim__var__arx_8cpp">sim_var_arx.cpp</innerfile>
+    <innerfile refid="testbidiff_8cpp">testbidiff.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/pmsm/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classstr.xml
===================================================================
--- /doc/xml/classstr.xml (revision 187)
+++ /doc/xml/classstr.xml (revision 187)
@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classstr" kind="class" prot="public">
+    <compoundname>str</compoundname>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classstr_18c4e7241505999c272eb15e586ba7923" prot="public" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec str::ids</definition>
+        <argsstring></argsstring>
+        <name>ids</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="24" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="24" bodyend="-1"/>
+        <referencedby refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" compoundref="libBM_8cpp" startline="142" endline="152">RV::dataind</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classstr_1a55be419d33638dd0b2de3ecd64a4f27" prot="public" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec str::times</definition>
+        <argsstring></argsstring>
+        <name>times</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="25" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="25" bodyend="-1"/>
+        <referencedby refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" compoundref="libBM_8cpp" startline="142" endline="152">RV::dataind</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classstr_111ba7967bca045fe27fab8e70b6c0598" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>str::str</definition>
+        <argsstring>(ivec ids0, ivec times0)</argsstring>
+        <name>str</name>
+        <param>
+          <type>ivec</type>
+          <declname>ids0</declname>
+        </param>
+        <param>
+          <type>ivec</type>
+          <declname>times0</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="26" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="26" bodyend="28"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Structure of <ref refid="classRV" kindref="compound">RV</ref> (used internally). </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="22" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="22" bodyend="29"/>
+    <listofallmembers>
+      <member refid="classstr_18c4e7241505999c272eb15e586ba7923" prot="public" virt="non-virtual"><scope>str</scope><name>ids</name></member>
+      <member refid="classstr_111ba7967bca045fe27fab8e70b6c0598" prot="public" virt="non-virtual"><scope>str</scope><name>str</name></member>
+      <member refid="classstr_1a55be419d33638dd0b2de3ecd64a4f27" prot="public" virt="non-virtual"><scope>str</scope><name>times</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__sim2_8cpp.xml
===================================================================
--- /doc/xml/pmsm__sim2_8cpp.xml (revision 187)
+++ /doc/xml/pmsm__sim2_8cpp.xml (revision 187)
@@ -0,0 +1,306 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__sim2_8cpp" kind="file">
+    <compoundname>pmsm_sim2.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includes refid="loggers_8h" local="no">stat/loggers.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <includes refid="simulator_8h" local="yes">simulator.h</includes>
+    <includes refid="sim__profiles_8h" local="yes">sim_profiles.h</includes>
+    <incdepgraph>
+      <node id="610">
+        <label>sim_profiles.h</label>
+        <link refid="sim__profiles_8h-source"/>
+      </node>
+      <node id="607">
+        <label>stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+        <childnode refid="601" relation="include">
+        </childnode>
+        <childnode refid="604" relation="include">
+        </childnode>
+      </node>
+      <node id="601">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+      </node>
+      <node id="609">
+        <label>simulator.h</label>
+        <link refid="simulator_8h-source"/>
+      </node>
+      <node id="608">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="600" relation="include">
+        </childnode>
+      </node>
+      <node id="604">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+      </node>
+      <node id="602">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+        <childnode refid="603" relation="include">
+        </childnode>
+        <childnode refid="601" relation="include">
+        </childnode>
+        <childnode refid="604" relation="include">
+        </childnode>
+      </node>
+      <node id="606">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+        <childnode refid="602" relation="include">
+        </childnode>
+        <childnode refid="603" relation="include">
+        </childnode>
+      </node>
+      <node id="600">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+        <childnode refid="601" relation="include">
+        </childnode>
+      </node>
+      <node id="598">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="605">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+        <childnode refid="603" relation="include">
+        </childnode>
+        <childnode refid="604" relation="include">
+        </childnode>
+      </node>
+      <node id="597">
+        <label>work/git/mixpp/pmsm/pmsm_sim2.cpp</label>
+        <link refid="pmsm_sim2.cpp"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+        <childnode refid="599" relation="include">
+        </childnode>
+        <childnode refid="606" relation="include">
+        </childnode>
+        <childnode refid="600" relation="include">
+        </childnode>
+        <childnode refid="607" relation="include">
+        </childnode>
+        <childnode refid="608" relation="include">
+        </childnode>
+        <childnode refid="609" relation="include">
+        </childnode>
+        <childnode refid="610" relation="include">
+        </childnode>
+      </node>
+      <node id="599">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+        <childnode refid="600" relation="include">
+        </childnode>
+        <childnode refid="602" relation="include">
+        </childnode>
+        <childnode refid="605" relation="include">
+        </childnode>
+      </node>
+      <node id="603">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="598" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classEKF__unQ" prot="public">EKF_unQ</innerclass>
+    <innerclass refid="classEKF__unQful" prot="public">EKF_unQful</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__sim2_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="69" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="69" bodyend="151"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">stat/loggers.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;sim_profiles.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="26"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="29" refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" kindref="member" tooltip="Default constructor.">EKF_unQ</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>)<sp/>:<ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQ<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="30" refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>Q0,0<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>EKF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>bayes(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>dt){</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKFCh::bayes</ref>(dt);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xtrue(4);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//UGLY<sp/>HACK!!!<sp/>reliance<sp/>on<sp/>a<sp/>predictor!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(0)=x[0];</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(1)=x[1];</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(2)=x[2];</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(3)=x[3];</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref><sp/>=<sp/>-0.5*<sp/>(<sp/>4<sp/>*<sp/>1.83787706640935<sp/>+<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_1b504ca818203b13e667cb3c503980382" kindref="member" tooltip="Logarithm of a determinant.">logdet</ref>()<sp/>+<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4" kindref="member" tooltip="Evaluates quadratic form ;.">invqform</ref>(xtrue));</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">EKF_unQful<sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF_unQful<sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>)<sp/>:<ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQ<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q=diag(Q0);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>dt){</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKFfull::bayes</ref>(dt);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xtrue(4);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//UGLY<sp/>HACK!!!<sp/>reliance<sp/>on<sp/>a<sp/>predictor!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(0)=x[0];</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(1)=x[1];</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(2)=x[2];</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xtrue(3)=x[3];</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">BM::ll</ref><sp/>=<sp/>-0.5*<sp/>(<sp/>4<sp/>*<sp/>1.83787706640935<sp/>+log(det(P))<sp/>+xtrue*<sp/>(<sp/>inv(P)*xtrue<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="67"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>90000;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h<sp/>=<sp/>1e-6;</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Nsimstep<sp/>=<sp/>125;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Npart<sp/>=<sp/>50;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>L(</highlight><highlight class="stringliteral">&quot;exp/pmsm_sim2&quot;</highlight><highlight class="normal">,1000);</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>internal<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>Nsimstep*h,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>observation<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0<sp/>0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/>&quot;0.01<sp/>0.01<sp/>0.01<sp/>0.0001&quot;<sp/>);<sp/>//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;10<sp/>10<sp/>10<sp/>0.001&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;100<sp/>100&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>&quot;0.034<sp/>0.034&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>KFE<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>(<sp/>1*eye<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R);</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{Q}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;4&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF_unQful<sp/>KFEp<sp/>(<sp/>rx,ry,ru,rQ<sp/>);</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_est<sp/>(<sp/>mu0,<sp/><sp/>1*ones<sp/>(<sp/>4<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,diag(Qdiag),diag(Rdiag)<sp/>);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma__fix" kindref="compound" tooltip="Gamma random walk around a fixed point.">mgamma_fix</ref><sp/>evolQ<sp/>(<sp/>rQ,rQ<sp/>);</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF&lt;EKF_unQful&gt;</ref><sp/>M<sp/>(<sp/>rx,rQ,evolQ,evolQ,Npart,KFEp<sp/>);</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initialize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>1000.0<sp/>,Qdiag,<sp/>0.5);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.condition<sp/>(<sp/>Qdiag<sp/>);<sp/></highlight><highlight class="comment">//Zdenek<sp/>default</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pfinit=evolQ._epdf();</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>pfinit<sp/>);</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>100000.0,<sp/>Qdiag,<sp/>0.9999<sp/>);</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Mep<sp/>=<sp/>M._epdf();</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>X_log<sp/>=<sp/>L.add(rx,</highlight><highlight class="stringliteral">&quot;X&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Efix_log<sp/>=<sp/>L.add(rx,</highlight><highlight class="stringliteral">&quot;XF&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>tmp=concat(rQ,rx);</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>M_log<sp/>=<sp/>L.add(tmp,</highlight><highlight class="stringliteral">&quot;M&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.init();</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>SET<sp/>SIMULATOR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_set_parameters<sp/>(<sp/>0.28,0.003465,0.1989,0.0,4,1.5,0.04,<sp/>200.,<sp/>3e-6,<sp/>h<sp/>);</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww=0.0;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tK=1;tK&lt;Ndat;tK++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Number<sp/>of<sp/>steps<sp/>of<sp/>a<sp/>simulator<sp/>for<sp/>one<sp/>step<sp/>of<sp/>Kalman</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;<sp/>ii&lt;Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sim_profile_steps1(Ww);</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_step<sp/>(<sp/>Ww<sp/>);</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>collect<sp/>data</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[0];</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[1];</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[2];</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[3];</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(X_log,<sp/><sp/>vec(x,4));<sp/></highlight><highlight class="comment">//vec<sp/>from<sp/>C-array</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(Efix_log,<sp/>KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(M_log,<sp/><sp/>Mep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.step();</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.finalize();<sp/></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="151"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classBike.xml
===================================================================
--- /doc/xml/classBike.xml (revision 187)
+++ /doc/xml/classBike.xml (revision 187)
@@ -0,0 +1,127 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classBike" kind="class" prot="public">
+    <compoundname>Bike</compoundname>
+    <basecompoundref prot="public" virt="non-virtual">Transport</basecompoundref>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classBike_1f2d15b79b87a76c07b1a286be5ef0312" prot="public" static="no" mutable="no">
+        <type>const bool</type>
+        <definition>const bool Bike::electricLights</definition>
+        <argsstring></argsstring>
+        <name>electricLights</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="40" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="40" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classTransport_170cae36f44aac2f8acb03ac65acf2a26" prot="public" static="no" mutable="no">
+        <type>const int</type>
+        <definition>const int Transport::year</definition>
+        <argsstring></argsstring>
+        <name>year</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classTransport_1b0465cd394405877c611959dde903d75" prot="public" static="no" mutable="no">
+        <type>const string</type>
+        <definition>const string Transport::manufacturer</definition>
+        <argsstring></argsstring>
+        <name>manufacturer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classBike_1f2d75508bd0b643f3618c5702a37f163" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>Bike::Bike</definition>
+        <argsstring>(int age, string manufacturer, bool electricLights)</argsstring>
+        <name>Bike</name>
+        <param>
+          <type>int</type>
+          <declname>age</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>manufacturer</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>electricLights</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="44" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="42" bodyend="45"/>
+      </memberdef>
+      <memberdef kind="function" id="classBike_111ce254b2fbbd72b65f41b0f933e7609" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void Bike::ToString</definition>
+        <argsstring>()</argsstring>
+        <name>ToString</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="48" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="47" bodyend="52"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="643">
+        <label>Bike</label>
+        <childnode refid="644" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="644">
+        <label>Transport</label>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="647">
+        <label>string</label>
+      </node>
+      <node id="645">
+        <label>Bike</label>
+        <childnode refid="646" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="646">
+        <label>Transport</label>
+        <childnode refid="647" relation="usage">
+          <edgelabel>manufacturer</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="38" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="37" bodyend="53"/>
+    <listofallmembers>
+      <member refid="classBike_1f2d75508bd0b643f3618c5702a37f163" prot="public" virt="non-virtual"><scope>Bike</scope><name>Bike</name></member>
+      <member refid="classBike_1f2d15b79b87a76c07b1a286be5ef0312" prot="public" virt="non-virtual"><scope>Bike</scope><name>electricLights</name></member>
+      <member refid="classTransport_1b0465cd394405877c611959dde903d75" prot="public" virt="non-virtual"><scope>Bike</scope><name>manufacturer</name></member>
+      <member refid="classBike_111ce254b2fbbd72b65f41b0f933e7609" prot="public" virt="non-virtual"><scope>Bike</scope><name>ToString</name></member>
+      <member refid="classTransport_1e02bf118eb273cccfa2ec0329dca763f" prot="public" virt="non-virtual"><scope>Bike</scope><name>Transport</name></member>
+      <member refid="classTransport_170cae36f44aac2f8acb03ac65acf2a26" prot="public" virt="non-virtual"><scope>Bike</scope><name>year</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classUserInfo_1_1StringToUIMap.xml
===================================================================
--- /doc/xml/classUserInfo_1_1StringToUIMap.xml (revision 187)
+++ /doc/xml/classUserInfo_1_1StringToUIMap.xml (revision 187)
@@ -0,0 +1,87 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classUserInfo_1_1StringToUIMap" kind="class" prot="private">
+    <compoundname>UserInfo::StringToUIMap</compoundname>
+      <sectiondef kind="private-type">
+      <memberdef kind="typedef" id="classUserInfo_1_1StringToUIMap_1f1060481e01aa7ae16062898591e0bbf" prot="private" static="no">
+        <type>map&lt; const string, pUserInfo &gt;</type>
+        <definition>typedef map&lt; const string, pUserInfo &gt; UserInfo::StringToUIMap::MappedString2UI</definition>
+        <argsstring></argsstring>
+        <name>MappedString2UI</name>
+        <briefdescription>
+<para>Type definition of mapping which transforms type names to the related user infors. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="181" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="181" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-static-func">
+      <memberdef kind="function" id="classUserInfo_1_1StringToUIMap_12edb689bb92bdc8d2ae74294f4321d83" prot="private" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>MappedString2UI &amp;</type>
+        <definition>UserInfo::StringToUIMap::MappedString2UI &amp; UserInfo::StringToUIMap::privateMap</definition>
+        <argsstring>()</argsstring>
+        <name>privateMap</name>
+        <briefdescription>
+<para>immediately initialized instance of type MappedString2UI </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="61" bodyend="65"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_1_1StringToUIMap_1f4962fd52d2205413135736cd51a5478" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void UserInfo::StringToUIMap::Add</definition>
+        <argsstring>(string key, pUserInfo pInstance)</argsstring>
+        <name>Add</name>
+        <param>
+          <type>string</type>
+          <declname>key</declname>
+        </param>
+        <param>
+          <type>pUserInfo</type>
+          <declname>pInstance</declname>
+        </param>
+        <briefdescription>
+<para>add a pair key-userinfo into the internal map </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="67" bodyend="70"/>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1_1StringToUIMap_160bddc0e4acb36e4789de5a7e30a862d" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>pUserInfo</type>
+        <definition>UserInfo::pUserInfo UserInfo::StringToUIMap::Retrieve</definition>
+        <argsstring>(string key)</argsstring>
+        <name>Retrieve</name>
+        <param>
+          <type>string</type>
+          <declname>key</declname>
+        </param>
+        <briefdescription>
+<para>search for an userinfo related to the passed key within the internal map </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="191" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="72" bodyend="77"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+<para>static class encalupsating map of names to related UserInfos</para><para>The key property of this class is that it initilaized the internal map immediately when it is used for a first time. </para>    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="177" bodyend="192"/>
+    <listofallmembers>
+      <member refid="classUserInfo_1_1StringToUIMap_1f4962fd52d2205413135736cd51a5478" prot="public" virt="non-virtual"><scope>UserInfo::StringToUIMap</scope><name>Add</name></member>
+      <member refid="classUserInfo_1_1StringToUIMap_1f1060481e01aa7ae16062898591e0bbf" prot="private" virt="non-virtual"><scope>UserInfo::StringToUIMap</scope><name>MappedString2UI</name></member>
+      <member refid="classUserInfo_1_1StringToUIMap_12edb689bb92bdc8d2ae74294f4321d83" prot="private" virt="non-virtual"><scope>UserInfo::StringToUIMap</scope><name>privateMap</name></member>
+      <member refid="classUserInfo_1_1StringToUIMap_160bddc0e4acb36e4789de5a7e30a862d" prot="public" virt="non-virtual"><scope>UserInfo::StringToUIMap</scope><name>Retrieve</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classGlobalXercesConnector.xml
===================================================================
--- /doc/xml/classGlobalXercesConnector.xml (revision 187)
+++ /doc/xml/classGlobalXercesConnector.xml (revision 187)
@@ -0,0 +1,123 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classGlobalXercesConnector" kind="class" prot="public">
+    <compoundname>GlobalXercesConnector</compoundname>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+    <innerclass refid="classGlobalXercesConnector_1_1Comparator" prot="public">GlobalXercesConnector::Comparator</innerclass>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classGlobalXercesConnector_18d2d2a3f1b2a21a9647f7bc4c7e82c73" prot="public" static="no" mutable="no">
+        <type>DOMImplementation *</type>
+        <definition>DOMImplementation* GlobalXercesConnector::pImplementation</definition>
+        <argsstring></argsstring>
+        <name>pImplementation</name>
+        <briefdescription>
+<para>DOMImplementation is a base class for the all DOM oparations. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="36" bodyend="-1"/>
+        <referencedby refid="classGlobalXercesConnector_15bf4f5c7f9e7b54a318e99bb0e3f186d" compoundref="userinfo_8cpp" startline="15" endline="34">GlobalXercesConnector</referencedby>
+        <referencedby refid="classUserInfo_1089b8a3ad514b17ae564a27328655126" compoundref="userinfo_8h" startline="195" endline="210">UserInfo&lt; Engine &gt;::Save</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classGlobalXercesConnector_1c6c620829e2a2fface1bea202b0608a6" prot="public" static="no" mutable="no">
+        <type>DOMWriter *</type>
+        <definition>DOMWriter* GlobalXercesConnector::pSerializer</definition>
+        <argsstring></argsstring>
+        <name>pSerializer</name>
+        <briefdescription>
+<para>This DOMWriter is used to export internal data into xml files. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="38" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="38" bodyend="-1"/>
+        <referencedby refid="classGlobalXercesConnector_15bf4f5c7f9e7b54a318e99bb0e3f186d" compoundref="userinfo_8cpp" startline="15" endline="34">GlobalXercesConnector</referencedby>
+        <referencedby refid="classUserInfo_1089b8a3ad514b17ae564a27328655126" compoundref="userinfo_8h" startline="195" endline="210">UserInfo&lt; Engine &gt;::Save</referencedby>
+        <referencedby refid="classGlobalXercesConnector_1d61ca15a9bf7d358c5afd8fd1e42c3ca" compoundref="userinfo_8cpp" startline="36" endline="43">~GlobalXercesConnector</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classGlobalXercesConnector_1ca92055e0f5a5ea3d8cb1c4d6bf0dd51" prot="public" static="no" mutable="no">
+        <type>XercesDOMParser *</type>
+        <definition>XercesDOMParser* GlobalXercesConnector::pParser</definition>
+        <argsstring></argsstring>
+        <name>pParser</name>
+        <briefdescription>
+<para>This DOMWriter is used to import external data from xml files. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="40" bodyend="-1"/>
+        <referencedby refid="classGlobalXercesConnector_15bf4f5c7f9e7b54a318e99bb0e3f186d" compoundref="userinfo_8cpp" startline="15" endline="34">GlobalXercesConnector</referencedby>
+        <referencedby refid="classUserInfo_1920c54d79132041a520180d083a6c503" compoundref="userinfo_8h" startline="212" endline="248">UserInfo&lt; Engine &gt;::Load</referencedby>
+        <referencedby refid="classGlobalXercesConnector_1d61ca15a9bf7d358c5afd8fd1e42c3ca" compoundref="userinfo_8cpp" startline="36" endline="43">~GlobalXercesConnector</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classGlobalXercesConnector_15bf4f5c7f9e7b54a318e99bb0e3f186d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>GlobalXercesConnector::GlobalXercesConnector</definition>
+        <argsstring>()</argsstring>
+        <name>GlobalXercesConnector</name>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="44" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="15" bodyend="34"/>
+        <references refid="classGlobalXercesConnector_18d2d2a3f1b2a21a9647f7bc4c7e82c73" compoundref="userinfo_8h" startline="36">pImplementation</references>
+        <references refid="classGlobalXercesConnector_1ca92055e0f5a5ea3d8cb1c4d6bf0dd51" compoundref="userinfo_8h" startline="40">pParser</references>
+        <references refid="classGlobalXercesConnector_1c6c620829e2a2fface1bea202b0608a6" compoundref="userinfo_8h" startline="38">pSerializer</references>
+      </memberdef>
+      <memberdef kind="function" id="classGlobalXercesConnector_1d61ca15a9bf7d358c5afd8fd1e42c3ca" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>GlobalXercesConnector::~GlobalXercesConnector</definition>
+        <argsstring>()</argsstring>
+        <name>~GlobalXercesConnector</name>
+        <briefdescription>
+<para>destructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="46" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="36" bodyend="43"/>
+        <references refid="classGlobalXercesConnector_1ca92055e0f5a5ea3d8cb1c4d6bf0dd51" compoundref="userinfo_8h" startline="40">pParser</references>
+        <references refid="classGlobalXercesConnector_1c6c620829e2a2fface1bea202b0608a6" compoundref="userinfo_8h" startline="38">pSerializer</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classGlobalXercesConnector_19800b81014bc6497815e28ad4bd3cf3a" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string GlobalXercesConnector::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="50" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="45" bodyend="51"/>
+        <referencedby refid="classUserInfo_1f673ea7ee23cc87e89d1530f94817800" compoundref="userinfo_8h" startline="256" endline="290">UserInfo&lt; Engine &gt;::ParseElement</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Xerces interface class. </para>    </briefdescription>
+    <detaileddescription>
+<para>This class is used to interact with the Xerces library. </para>    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="32" bodyend="58"/>
+    <listofallmembers>
+      <member refid="classGlobalXercesConnector_15bf4f5c7f9e7b54a318e99bb0e3f186d" prot="public" virt="non-virtual"><scope>GlobalXercesConnector</scope><name>GlobalXercesConnector</name></member>
+      <member refid="classGlobalXercesConnector_18d2d2a3f1b2a21a9647f7bc4c7e82c73" prot="public" virt="non-virtual"><scope>GlobalXercesConnector</scope><name>pImplementation</name></member>
+      <member refid="classGlobalXercesConnector_1ca92055e0f5a5ea3d8cb1c4d6bf0dd51" prot="public" virt="non-virtual"><scope>GlobalXercesConnector</scope><name>pParser</name></member>
+      <member refid="classGlobalXercesConnector_1c6c620829e2a2fface1bea202b0608a6" prot="public" virt="non-virtual"><scope>GlobalXercesConnector</scope><name>pSerializer</name></member>
+      <member refid="classGlobalXercesConnector_19800b81014bc6497815e28ad4bd3cf3a" prot="public" virt="non-virtual"><scope>GlobalXercesConnector</scope><name>XMLCh2str</name></member>
+      <member refid="classGlobalXercesConnector_1d61ca15a9bf7d358c5afd8fd1e42c3ca" prot="public" virt="non-virtual"><scope>GlobalXercesConnector</scope><name>~GlobalXercesConnector</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_3916c57e55130d88bce5f7c80c305388.xml
===================================================================
--- /doc/xml/dir_3916c57e55130d88bce5f7c80c305388.xml (revision 187)
+++ /doc/xml/dir_3916c57e55130d88bce5f7c80c305388.xml (revision 187)
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_3916c57e55130d88bce5f7c80c305388" kind="dir">
+    <compoundname>work/mixpp/tests/</compoundname>
+    <innerfile refid="tests_2arx__c_8cpp">arx_c.cpp</innerfile>
+    <innerfile refid="arx__test_8cpp">arx_test.cpp</innerfile>
+    <innerfile refid="blas__test_8cpp">blas_test.cpp</innerfile>
+    <innerfile refid="chmat__test_8cpp">chmat_test.cpp</innerfile>
+    <innerfile refid="fsqmat__test_8cpp">fsqmat_test.cpp</innerfile>
+    <innerfile refid="hello-pskel_8cxx">hello-pskel.cxx</innerfile>
+    <innerfile refid="hello-pskel_8hxx">hello-pskel.hxx</innerfile>
+    <innerfile refid="ldmat__test_8cpp">ldmat_test.cpp</innerfile>
+    <innerfile refid="tests_2linefit2__c_8cpp">linefit2_c.cpp</innerfile>
+    <innerfile refid="loggers__test_8cpp">loggers_test.cpp</innerfile>
+    <innerfile refid="struct__test_8cpp">struct_test.cpp</innerfile>
+    <innerfile refid="test0_8cpp">test0.cpp</innerfile>
+    <innerfile refid="test__xsd__hello_8cxx">test_xsd_hello.cxx</innerfile>
+    <innerfile refid="testEpdf_8cpp">testEpdf.cpp</innerfile>
+    <innerfile refid="testKF_8cpp">testKF.cpp</innerfile>
+    <innerfile refid="testKF__QR_8cpp">testKF_QR.cpp</innerfile>
+    <innerfile refid="testKF__QRexh_8cpp">testKF_QRexh.cpp</innerfile>
+    <innerfile refid="testPF_8cpp">testPF.cpp</innerfile>
+    <innerfile refid="testResample_8cpp">testResample.cpp</innerfile>
+    <innerfile refid="testSmp_8cpp">testSmp.cpp</innerfile>
+    <innerfile refid="testUI_8cpp">testUI.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/tests/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classKFcondR.xml
===================================================================
--- /doc/xml/classKFcondR.xml (revision 187)
+++ /doc/xml/classKFcondR.xml (revision 187)
@@ -0,0 +1,745 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classKFcondR" kind="class" prot="public">
+    <compoundname>KFcondR</compoundname>
+    <basecompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; ldmat &gt;</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classKFcondR_1d2acbb8e66c7ee592b1a9da5b429a69e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>KFcondR::KFcondR</definition>
+        <argsstring>(RV rvx, RV rvy, RV rvu, RV rvR)</argsstring>
+        <name>KFcondR</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvy</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvR</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="252" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="252" bodyend="252"/>
+      </memberdef>
+      <memberdef kind="function" id="classKFcondR_18c0721e47879bb8840d829db7a174a7f" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void KFcondR::condition</definition>
+        <argsstring>(const vec &amp;R)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="254" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="245" bodyend="249"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; ldmat &gt;::R</references>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+        <references refid="classldmat_10884a613b94fde61bfc84288e73ce57f" compoundref="libDC_8h" startline="241" endline="241">ldmat::setD</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; ldmat  &gt;::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const mat &amp;B0, const mat &amp;C0, const mat &amp;D0, const ldmat &amp;R0, const ldmat &amp;Q0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>R0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+<para>Set parameters with check of relevance. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="111"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; ldmat  &gt;::set_est</definition>
+        <argsstring>(const vec &amp;mu0, const ldmat &amp;P0)</argsstring>
+        <name>set_est</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>Set estimate values, used e.g. in initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="113" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="113" bodyend="118"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_17750ffd73f261828a32c18aaeb65c75c" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; ldmat  &gt;::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="121"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; Kalman&lt; ldmat  &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="123" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; Kalman&lt; ldmat  &gt;::__K</definition>
+        <argsstring>()</argsstring>
+        <name>__K</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="125" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec Kalman&lt; ldmat  &gt;::_dP</definition>
+        <argsstring>()</argsstring>
+        <name>_dP</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="127" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BMcond::_rvc</definition>
+        <argsstring>() const </argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; ldmat  &gt;::rvy</definition>
+        <argsstring></argsstring>
+        <name>rvy</name>
+        <briefdescription>
+<para>Indetifier of output rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; ldmat  &gt;::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indetifier of exogeneous rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="69" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; ldmat  &gt;::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache of rv.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; ldmat  &gt;::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>cache of rvy.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="73" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; ldmat  &gt;::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache of rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="75" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="77" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="79" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+<para>Matrix C. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="81" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Matrix D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="83" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref></type>
+        <definition>ldmat  Kalman&lt; ldmat  &gt;::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+<para>Matrix Q in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref></type>
+        <definition>ldmat  Kalman&lt; ldmat  &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Matrix R in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="87" bodyend="-1"/>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classldmat" kindref="compound">ldmat</ref> &gt;</type>
+        <definition>enorm&lt;ldmat &gt; Kalman&lt; ldmat  &gt;::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density on $x_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="90" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classldmat" kindref="compound">ldmat</ref> &gt;</type>
+        <definition>enorm&lt;ldmat &gt; Kalman&lt; ldmat  &gt;::fy</definition>
+        <argsstring></argsstring>
+        <name>fy</name>
+        <briefdescription>
+<para>preditive density on $y_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="92" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+<para>placeholder for <ref refid="classKalman" kindref="compound">Kalman</ref> gain </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="95" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; ldmat  &gt;::_yp</definition>
+        <argsstring></argsstring>
+        <name>_yp</name>
+        <briefdescription>
+<para>cache of fy.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="97" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat &amp; Kalman&lt; ldmat  &gt;::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+<para>cache of fy.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="99" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; ldmat  &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>cache of est.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="101" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat &amp; Kalman&lt; ldmat  &gt;::_P</definition>
+        <argsstring></argsstring>
+        <name>_P</name>
+        <briefdescription>
+<para>cache of est.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="103" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BMcond::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>Identificator of the conditioning variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
+        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">BMcond::_rvc</referencedby>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para><ref refid="classKalman" kindref="compound">Kalman</ref> Filter with conditional diagonal matrices R and Q. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1136">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="1134">
+        <label>KFcondR</label>
+        <link refid="classKFcondR"/>
+        <childnode refid="1135" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1138" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1135">
+        <label>Kalman&lt; ldmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1136" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1137" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1137">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1136" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1138">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1143">
+        <label>ldmat</label>
+        <link refid="classldmat"/>
+        <childnode refid="1144" relation="private-inheritance">
+        </childnode>
+      </node>
+      <node id="1148">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1146" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1149" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="1149">
+        <label>sq_T</label>
+      </node>
+      <node id="1147">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1142" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1141">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="1142" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1139">
+        <label>KFcondR</label>
+        <link refid="classKFcondR"/>
+        <childnode refid="1140" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1151" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1142">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1144">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="1140">
+        <label>Kalman&lt; ldmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1141" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1143" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="1142" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+        <childnode refid="1145" relation="usage">
+          <edgelabel>est
+fy</edgelabel>
+        </childnode>
+        <childnode refid="1150" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1145">
+        <label>enorm&lt; ldmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1146" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1143" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="1148" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1150">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1141" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1149" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="1142" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+      </node>
+      <node id="1146">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1147" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1151">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+        <childnode refid="1142" relation="usage">
+          <edgelabel>rvc</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="248" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="248" bodyend="255"/>
+    <listofallmembers>
+      <member refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>__K</name></member>
+      <member refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>_dP</name></member>
+      <member refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" virt="virtual"><scope>KFcondR</scope><name>_epdf</name></member>
+      <member refid="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>_ll</name></member>
+      <member refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>_mu</name></member>
+      <member refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>_P</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>_rv</name></member>
+      <member refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>_rvc</name></member>
+      <member refid="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>_Ry</name></member>
+      <member refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>_yp</name></member>
+      <member refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>A</name></member>
+      <member refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>B</name></member>
+      <member refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" prot="public" virt="virtual"><scope>KFcondR</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>KFcondR</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>BM</name></member>
+      <member refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>BMcond</name></member>
+      <member refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>C</name></member>
+      <member refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" prot="public" virt="virtual"><scope>KFcondR</scope><name>condition</name></member>
+      <member refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>D</name></member>
+      <member refid="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>dimu</name></member>
+      <member refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>dimx</name></member>
+      <member refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>dimy</name></member>
+      <member refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>evalll</name></member>
+      <member refid="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>fy</name></member>
+      <member refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>Kalman</name></member>
+      <member refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>Kalman</name></member>
+      <member refid="classKFcondR_1d2acbb8e66c7ee592b1a9da5b429a69e" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>KFcondR</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>ll</name></member>
+      <member refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>Q</name></member>
+      <member refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>rv</name></member>
+      <member refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>rvc</name></member>
+      <member refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>rvu</name></member>
+      <member refid="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" virt="non-virtual"><scope>KFcondR</scope><name>rvy</name></member>
+      <member refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>set_est</name></member>
+      <member refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" virt="non-virtual"><scope>KFcondR</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>KFcondR</scope><name>~BM</name></member>
+      <member refid="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" virt="virtual"><scope>KFcondR</scope><name>~BMcond</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testbidiff_8cpp.xml
===================================================================
--- /doc/xml/testbidiff_8cpp.xml (revision 187)
+++ /doc/xml/testbidiff_8cpp.xml (revision 187)
@@ -0,0 +1,103 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testbidiff_8cpp" kind="file">
+    <compoundname>testbidiff.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">../bdm/stat/libBM.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <incdepgraph>
+      <node id="800">
+        <label>work/git/mixpp/pmsm/testbidiff.cpp</label>
+        <link refid="testbidiff.cpp"/>
+        <childnode refid="801" relation="include">
+        </childnode>
+        <childnode refid="802" relation="include">
+        </childnode>
+        <childnode refid="803" relation="include">
+        </childnode>
+      </node>
+      <node id="802">
+        <label>../bdm/stat/libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="801" relation="include">
+        </childnode>
+      </node>
+      <node id="803">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="804" relation="include">
+        </childnode>
+      </node>
+      <node id="804">
+        <label>stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="801" relation="include">
+        </childnode>
+        <childnode refid="802" relation="include">
+        </childnode>
+      </node>
+      <node id="801">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testbidiff_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/testbidiff.cpp" line="13" bodyfile="/home/smidl/work/git/mixpp/pmsm/testbidiff.cpp" bodystart="12" bodyend="37"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../bdm/stat/libBM.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>x0<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;100<sp/>120<sp/>100<sp/>2&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u0<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1<sp/>1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h=1e-6;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>I;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>I.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>h,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>x(x0);<sp/><sp/><sp/><sp/><sp/><sp/>x(0)<sp/>+=<sp/>h;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>(I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x,u0)-I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x0,u0))/h<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x=x0;<sp/><sp/><sp/>x(1)<sp/>+=<sp/>h;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>(I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x,u0)-I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x0,u0))/h<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x=x0;<sp/><sp/><sp/>x(2)<sp/>+=<sp/>h;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>(I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x,u0)-I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x0,u0))/h<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x=x0;<sp/><sp/><sp/>x(3)<sp/>+=<sp/>h;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>(I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x,u0)-I.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref>(x0,u0))/h<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A(4,4);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>I.<ref refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref>(x0,u0,A);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;A.T()<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/testbidiff.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__sim_8cpp.xml
===================================================================
--- /doc/xml/pmsm__sim_8cpp.xml (revision 187)
+++ /doc/xml/pmsm__sim_8cpp.xml (revision 187)
@@ -0,0 +1,264 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__sim_8cpp" kind="file">
+    <compoundname>pmsm_sim.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <includes refid="simulator_8h" local="yes">simulator.h</includes>
+    <incdepgraph>
+      <node id="588">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+      </node>
+      <node id="595">
+        <label>simulator.h</label>
+        <link refid="simulator_8h-source"/>
+      </node>
+      <node id="594">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="587" relation="include">
+        </childnode>
+      </node>
+      <node id="591">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+      </node>
+      <node id="589">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+        <childnode refid="590" relation="include">
+        </childnode>
+        <childnode refid="588" relation="include">
+        </childnode>
+        <childnode refid="591" relation="include">
+        </childnode>
+      </node>
+      <node id="593">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+        <childnode refid="589" relation="include">
+        </childnode>
+        <childnode refid="590" relation="include">
+        </childnode>
+      </node>
+      <node id="587">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+        <childnode refid="588" relation="include">
+        </childnode>
+      </node>
+      <node id="585">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="592">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+        <childnode refid="590" relation="include">
+        </childnode>
+        <childnode refid="591" relation="include">
+        </childnode>
+      </node>
+      <node id="586">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+        <childnode refid="587" relation="include">
+        </childnode>
+        <childnode refid="589" relation="include">
+        </childnode>
+        <childnode refid="592" relation="include">
+        </childnode>
+      </node>
+      <node id="590">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+      </node>
+      <node id="584">
+        <label>work/git/mixpp/pmsm/pmsm_sim.cpp</label>
+        <link refid="pmsm_sim.cpp"/>
+        <childnode refid="585" relation="include">
+        </childnode>
+        <childnode refid="586" relation="include">
+        </childnode>
+        <childnode refid="593" relation="include">
+        </childnode>
+        <childnode refid="587" relation="include">
+        </childnode>
+        <childnode refid="594" relation="include">
+        </childnode>
+        <childnode refid="595" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classEKF__unQ" prot="public">EKF_unQ</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__sim_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" line="35" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" bodystart="35" bodyend="129"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="23" refid="classEKF__unQ" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="26" refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" kindref="member" tooltip="Default constructor.">EKF_unQ</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>)<sp/>:<ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQ<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="27" refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>Q0,0<sp/>);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>EKF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="32"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>30000;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h<sp/>=<sp/>1e-6;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Nsimstep<sp/>=<sp/>125;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Npart<sp/>=<sp/>1000;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>internal<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>Nsimstep*h,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>observation<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0<sp/>0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.01<sp/>0.01<sp/>0.00001<sp/>0.00001&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.0005<sp/>0.0005&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>&quot;0.034<sp/>0.034&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>KFE<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R<sp/>);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{Q<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>KFEp<sp/>(<sp/>rx,ry,ru,rQ<sp/>);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>evolQ<sp/>(<sp/>rQ,rQ<sp/>);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF&lt;EKF_unQ&gt;</ref><sp/>M<sp/>(<sp/>rx,rQ,evolQ,evolQ,Npart,KFEp<sp/>);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initialize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>100.0<sp/>);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.condition<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.01<sp/>0.01&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//Zdenek<sp/>default</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pfinit=evolQ._epdf();</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>pfinit<sp/>);</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>1000.0<sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Mep<sp/>=<sp/>M._epdf();</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt=zeros<sp/>(<sp/>Ndat<sp/>,9<sp/>);<sp/></highlight><highlight class="comment">//true<sp/>state<sp/>from<sp/>simulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Dt=zeros<sp/>(<sp/>Ndat,4+2<sp/>);<sp/></highlight><highlight class="comment">//observation</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtE=zeros<sp/>(<sp/>Ndat,<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtM=zeros<sp/>(<sp/>Ndat,6<sp/>);<sp/></highlight><highlight class="comment">//Q<sp/>+<sp/>x</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>SET<sp/>SIMULATOR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_set_parameters<sp/>(<sp/>0.28,0.003465,0.1989,0.0,4,1.5,0.04,<sp/>200.,<sp/>3e-6,<sp/>h<sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww=0.0;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>k_rampa=1;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>k_rampa_tmp=0;</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tK=1;tK&lt;Ndat;tK++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Number<sp/>of<sp/>steps<sp/>of<sp/>a<sp/>simulator<sp/>for<sp/>one<sp/>step<sp/>of<sp/>Kalman</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;<sp/>ii&lt;Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww+=k_rampa*2.*M_PI*2e-4;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//1000Hz/s</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Ww&gt;2.*M_PI*150.<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww=2.*M_PI*150.;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>k_rampa_tmp&lt;500000<sp/>)<sp/>k_rampa_tmp++;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{k_rampa=-1;k_rampa_tmp=0;}</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Ww&lt;-2.*M_PI*150.<sp/>)<sp/>Ww=-2.*M_PI*150.;<sp/></highlight><highlight class="comment">/*<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_step<sp/>(<sp/>Ww<sp/>);</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>collect<sp/>data</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[0];</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[1];</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[2];</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[3];</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_row<sp/>(<sp/>tK,vec<sp/>(<sp/>x,9<sp/>)<sp/>);<sp/></highlight><highlight class="comment">//vec<sp/>from<sp/>C-array</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Dt.set_row<sp/>(<sp/>tK,<sp/>concat<sp/>(<sp/>dt,ut,vec_1(sqrt(pow(ut(0),2)+pow(ut(1),2))),<sp/>vec_1(sqrt(pow(dt(0),2)+pow(dt(1),2)))<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_row<sp/>(<sp/>tK,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtM.set_row<sp/>(<sp/>tK,Mep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;pmsm_sim.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xth&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>Xt;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Dt&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>Dt;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xthE&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>XtE;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xthM&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>XtM;</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="129"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classRV.xml
===================================================================
--- /doc/xml/classRV.xml (revision 187)
+++ /doc/xml/classRV.xml (revision 187)
@@ -0,0 +1,634 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classRV" kind="class" prot="public">
+    <compoundname>RV</compoundname>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int RV::tsize</definition>
+        <argsstring></argsstring>
+        <name>tsize</name>
+        <briefdescription>
+<para>size = sum of sizes </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="40" bodyend="-1"/>
+        <referencedby refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">add</referencedby>
+        <referencedby refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">count</referencedby>
+        <referencedby refid="classRV_152f3ade796814da627ff5a44d00986be" compoundref="libBM_8cpp" startline="129" endline="140">tostr</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int RV::len</definition>
+        <argsstring></argsstring>
+        <name>len</name>
+        <briefdescription>
+<para>len = number of individual rvs </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="42" bodyend="-1"/>
+        <referencedby refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">add</referencedby>
+        <referencedby refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" compoundref="libBM_8cpp" startline="142" endline="152">dataind</referencedby>
+        <referencedby refid="classRV_10c493a7a897f4d75682f4264e40779a1" compoundref="libBM_8cpp" startline="163" endline="175">findself</referencedby>
+        <referencedby refid="classRV_1c114a6f3ff06796cc2f4dacba74291eb" compoundref="libBM_8h" startline="71" endline="71">length</referencedby>
+        <referencedby refid="classRV_1bedfd8d197f0a7ac28a4d412dfc5b8af" compoundref="libBM_8cpp" startline="31" endline="35">RV</referencedby>
+        <referencedby refid="classRV_152f3ade796814da627ff5a44d00986be" compoundref="libBM_8cpp" startline="129" endline="140">tostr</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classRV_11bd7165140f4b880a7f344bbb1c433f9" prot="protected" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec RV::ids</definition>
+        <argsstring></argsstring>
+        <name>ids</name>
+        <briefdescription>
+<para>Vector of unique IDs. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="44" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="44" bodyend="-1"/>
+        <referencedby refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">add</referencedby>
+        <referencedby refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" compoundref="libBM_8cpp" startline="142" endline="152">dataind</referencedby>
+        <referencedby refid="classRV_182cc7fa22ce91cf461a522ad62014c65" compoundref="libBM_8cpp" startline="109" endline="111">equal</referencedby>
+        <referencedby refid="classRV_10c493a7a897f4d75682f4264e40779a1" compoundref="libBM_8cpp" startline="163" endline="175">findself</referencedby>
+        <referencedby refid="classRV_14a0069bc69f5a98d7ce9ed59077f2e6c" compoundref="libBM_8h" startline="98" endline="98">id</referencedby>
+        <referencedby refid="classRV_165e5b820e482caff7f284d11898ef64f" compoundref="libBM_8cpp" startline="101" endline="107">operator()</referencedby>
+        <referencedby refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" compoundref="libBM_8cpp" startline="93" endline="97">subselect</referencedby>
+        <referencedby refid="classRV_152f3ade796814da627ff5a44d00986be" compoundref="libBM_8cpp" startline="129" endline="140">tostr</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classRV_1c878aab13f34b420e1eb5b485563682b" prot="protected" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec RV::sizes</definition>
+        <argsstring></argsstring>
+        <name>sizes</name>
+        <briefdescription>
+<para>Vector of sizes. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="46" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="46" bodyend="-1"/>
+        <referencedby refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">add</referencedby>
+        <referencedby refid="classRV_182cc7fa22ce91cf461a522ad62014c65" compoundref="libBM_8cpp" startline="109" endline="111">equal</referencedby>
+        <referencedby refid="classRV_165e5b820e482caff7f284d11898ef64f" compoundref="libBM_8cpp" startline="101" endline="107">operator()</referencedby>
+        <referencedby refid="classRV_120db23a5585d64a6e24404cc8379bc28" compoundref="libBM_8h" startline="100" endline="100">size</referencedby>
+        <referencedby refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" compoundref="libBM_8cpp" startline="93" endline="97">subselect</referencedby>
+        <referencedby refid="classRV_152f3ade796814da627ff5a44d00986be" compoundref="libBM_8cpp" startline="129" endline="140">tostr</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classRV_1646e530c47a2dd38254b778d9f11ac89" prot="protected" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec RV::times</definition>
+        <argsstring></argsstring>
+        <name>times</name>
+        <briefdescription>
+<para>Vector of shifts from current time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="48" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="48" bodyend="-1"/>
+        <referencedby refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">add</referencedby>
+        <referencedby refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" compoundref="libBM_8cpp" startline="142" endline="152">dataind</referencedby>
+        <referencedby refid="classRV_182cc7fa22ce91cf461a522ad62014c65" compoundref="libBM_8cpp" startline="109" endline="111">equal</referencedby>
+        <referencedby refid="classRV_10c493a7a897f4d75682f4264e40779a1" compoundref="libBM_8cpp" startline="163" endline="175">findself</referencedby>
+        <referencedby refid="classRV_165e5b820e482caff7f284d11898ef64f" compoundref="libBM_8cpp" startline="101" endline="107">operator()</referencedby>
+        <referencedby refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" compoundref="libBM_8cpp" startline="93" endline="97">subselect</referencedby>
+        <referencedby refid="classRV_1e0a158d53ab9430627241f844f4c9a60" compoundref="libBM_8cpp" startline="99" endline="99">t</referencedby>
+        <referencedby refid="classRV_1af068cf478864fe1a4fbfc6b4693b088" compoundref="libBM_8h" startline="102" endline="102">time</referencedby>
+        <referencedby refid="classRV_152f3ade796814da627ff5a44d00986be" compoundref="libBM_8cpp" startline="129" endline="140">tostr</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classRV_1df5d0030b277a1db2f1fd5fb79152acb" prot="protected" static="no" mutable="no">
+        <type>Array&lt; std::string &gt;</type>
+        <definition>Array&lt;std::string&gt; RV::names</definition>
+        <argsstring></argsstring>
+        <name>names</name>
+        <briefdescription>
+<para>Array of names. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="50" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="50" bodyend="-1"/>
+        <referencedby refid="classRV_1b88ef5124713c9e30fd9446846b3f044" compoundref="libBM_8h" startline="95" endline="95">_names</referencedby>
+        <referencedby refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">add</referencedby>
+        <referencedby refid="classRV_13ae4dd6e368f814a02710636ac8e1721" compoundref="libBM_8h" startline="104" endline="104">name</referencedby>
+        <referencedby refid="classRV_165e5b820e482caff7f284d11898ef64f" compoundref="libBM_8cpp" startline="101" endline="107">operator()</referencedby>
+        <referencedby refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" compoundref="libBM_8cpp" startline="93" endline="97">subselect</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classRV_1799b75351112669ea6bcbbbd950c093f" prot="private" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void RV::init</definition>
+        <argsstring>(ivec in_ids, Array&lt; std::string &gt; in_names, ivec in_sizes, ivec in_times)</argsstring>
+        <name>init</name>
+        <param>
+          <type>ivec</type>
+          <declname>in_ids</declname>
+        </param>
+        <param>
+          <type>Array&lt; std::string &gt;</type>
+          <declname>in_names</declname>
+        </param>
+        <param>
+          <type>ivec</type>
+          <declname>in_sizes</declname>
+        </param>
+        <param>
+          <type>ivec</type>
+          <declname>in_times</declname>
+        </param>
+        <briefdescription>
+<para>auxiliary function used in constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="54" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="11" bodyend="29"/>
+        <referencedby refid="classRV_165e5b820e482caff7f284d11898ef64f" compoundref="libBM_8cpp" startline="101" endline="107">operator()</referencedby>
+        <referencedby refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" compoundref="libBM_8cpp" startline="93" endline="97">subselect</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classRV_1bedfd8d197f0a7ac28a4d412dfc5b8af" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>RV::RV</definition>
+        <argsstring>(Array&lt; std::string &gt; in_names, ivec in_sizes, ivec in_times)</argsstring>
+        <name>RV</name>
+        <param>
+          <type>Array&lt; std::string &gt;</type>
+          <declname>in_names</declname>
+        </param>
+        <param>
+          <type>ivec</type>
+          <declname>in_sizes</declname>
+        </param>
+        <param>
+          <type>ivec</type>
+          <declname>in_times</declname>
+        </param>
+        <briefdescription>
+<para>Full constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="57" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="31" bodyend="35"/>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_17b88a74204fdf044e02f2807769839b7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>RV::RV</definition>
+        <argsstring>(Array&lt; std::string &gt; in_names, ivec in_sizes)</argsstring>
+        <name>RV</name>
+        <param>
+          <type>Array&lt; std::string &gt;</type>
+          <declname>in_names</declname>
+        </param>
+        <param>
+          <type>ivec</type>
+          <declname>in_sizes</declname>
+        </param>
+        <briefdescription>
+<para>Constructor with times=0. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="59" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="37" bodyend="41"/>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1261702f85831392d7d67e2bcf0b69960" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>RV::RV</definition>
+        <argsstring>(Array&lt; std::string &gt; in_names)</argsstring>
+        <name>RV</name>
+        <param>
+          <type>Array&lt; std::string &gt;</type>
+          <declname>in_names</declname>
+        </param>
+        <briefdescription>
+<para>Constructor with sizes=1, times=0. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="61" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="43" bodyend="47"/>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_16a22f5c06d6403870d4e414b1993bf9e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>RV::RV</definition>
+        <argsstring>()</argsstring>
+        <name>RV</name>
+        <briefdescription>
+<para>Constructor of empty <ref refid="classRV" kindref="compound">RV</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="63" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="49" bodyend="49"/>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int RV::count</definition>
+        <argsstring>() const </argsstring>
+        <name>count</name>
+        <briefdescription>
+<para>Return number of scalars in the <ref refid="classRV" kindref="compound">RV</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="69" bodyend="69"/>
+        <references refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" compoundref="libBM_8h" startline="40">tsize</references>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classegiw_1c52a2173c6eb1490edce9c6c7c05d60b" compoundref="libEF_8h" startline="125" endline="127">egiw::egiw</referencedby>
+        <referencedby refid="classlinfn_1fac0e56701f4c7beaf1c91f9b2a55f0b" compoundref="libFN_8h" startline="44" endline="44">linfn::eval</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" compoundref="libDS_8cpp" startline="28" endline="34">MemDS::linkrvs</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1c114a6f3ff06796cc2f4dacba74291eb" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int RV::length</definition>
+        <argsstring>() const </argsstring>
+        <name>length</name>
+        <briefdescription>
+<para>Return length (number of entries) of the <ref refid="classRV" kindref="compound">RV</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="71" bodyend="71"/>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+        <referencedby refid="classRV_10c493a7a897f4d75682f4264e40779a1" compoundref="libBM_8cpp" startline="163" endline="175">findself</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classRV_10c493a7a897f4d75682f4264e40779a1" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>ivec</type>
+        <definition>ivec RV::findself</definition>
+        <argsstring>(const RV &amp;rv2) const </argsstring>
+        <name>findself</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv2</declname>
+        </param>
+        <briefdescription>
+<para>Find indexes of self in another rv,. </para>        </briefdescription>
+        <detaileddescription>
+<para><simplesect kind="return"><para>ivec of the same size as self. </para></simplesect>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="76" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="163" bodyend="175"/>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+        <references refid="classRV_1c114a6f3ff06796cc2f4dacba74291eb" compoundref="libBM_8h" startline="71" endline="71">length</references>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+        <referencedby refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">add</referencedby>
+        <referencedby refid="classRV_1a85c47bd838ebbdcb6798d7843e87db2" compoundref="libBM_8cpp" startline="154" endline="161">subt</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classRV_182cc7fa22ce91cf461a522ad62014c65" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool RV::equal</definition>
+        <argsstring>(const RV &amp;rv2) const </argsstring>
+        <name>equal</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv2</declname>
+        </param>
+        <briefdescription>
+<para>Compare if <computeroutput>rv2</computeroutput> is identical to this <computeroutput><ref refid="classRV" kindref="compound">RV</ref></computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="78" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="109" bodyend="111"/>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+        <references refid="classRV_1c878aab13f34b420e1eb5b485563682b" compoundref="libBM_8h" startline="46">sizes</references>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1935790526b630dec4ffefa9ec0c2b6fb" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool RV::add</definition>
+        <argsstring>(const RV &amp;rv2)</argsstring>
+        <name>add</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv2</declname>
+        </param>
+        <briefdescription>
+<para>Add (concat) another variable to the current one,. </para>        </briefdescription>
+        <detaileddescription>
+<para><simplesect kind="return"><para>0 if all rv2 were added, 1 if rv2 is in conflict </para></simplesect>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="80" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="51" bodyend="78"/>
+        <references refid="classRV_10c493a7a897f4d75682f4264e40779a1" compoundref="libBM_8cpp" startline="163" endline="175">findself</references>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+        <references refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" compoundref="libBM_8h" startline="50">names</references>
+        <references refid="classRV_1c878aab13f34b420e1eb5b485563682b" compoundref="libBM_8h" startline="46">sizes</references>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+        <references refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" compoundref="libBM_8h" startline="40">tsize</references>
+        <referencedby refid="libBM_8h_133c114e83980d883c5b211c47d5322a4" compoundref="libBM_8cpp" startline="177" endline="181">concat</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1a85c47bd838ebbdcb6798d7843e87db2" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV RV::subt</definition>
+        <argsstring>(const RV rv2) const </argsstring>
+        <name>subt</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rv2</declname>
+        </param>
+        <briefdescription>
+<para>Subtract another variable from the current one. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="82" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="154" bodyend="161"/>
+        <references refid="classRV_10c493a7a897f4d75682f4264e40779a1" compoundref="libBM_8cpp" startline="163" endline="175">findself</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV RV::subselect</definition>
+        <argsstring>(ivec ind) const </argsstring>
+        <name>subselect</name>
+        <param>
+          <type>ivec</type>
+          <declname>ind</declname>
+        </param>
+        <briefdescription>
+<para>Select only variables at indeces ind. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="84" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="93" bodyend="97"/>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+        <references refid="classRV_1799b75351112669ea6bcbbbd950c093f" compoundref="libBM_8cpp" startline="11" endline="29">init</references>
+        <references refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" compoundref="libBM_8h" startline="50">names</references>
+        <references refid="classRV_1c878aab13f34b420e1eb5b485563682b" compoundref="libBM_8h" startline="46">sizes</references>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_165e5b820e482caff7f284d11898ef64f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV RV::operator()</definition>
+        <argsstring>(ivec ind) const </argsstring>
+        <name>operator()</name>
+        <param>
+          <type>ivec</type>
+          <declname>ind</declname>
+        </param>
+        <briefdescription>
+<para>Select only variables at indeces ind. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="86" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="101" bodyend="107"/>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+        <references refid="classRV_1799b75351112669ea6bcbbbd950c093f" compoundref="libBM_8cpp" startline="11" endline="29">init</references>
+        <references refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" compoundref="libBM_8h" startline="50">names</references>
+        <references refid="classRV_1c878aab13f34b420e1eb5b485563682b" compoundref="libBM_8h" startline="46">sizes</references>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1e0a158d53ab9430627241f844f4c9a60" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void RV::t</definition>
+        <argsstring>(int delta)</argsstring>
+        <name>t</name>
+        <param>
+          <type>int</type>
+          <declname>delta</declname>
+        </param>
+        <briefdescription>
+<para>Shift <computeroutput>time</computeroutput> shifted by delta. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="88" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="99" bodyend="99"/>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_152f3ade796814da627ff5a44d00986be" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classstr" kindref="compound">str</ref></type>
+        <definition>str RV::tostr</definition>
+        <argsstring>() const </argsstring>
+        <name>tostr</name>
+        <briefdescription>
+<para>generate <computeroutput><ref refid="classstr" kindref="compound">str</ref></computeroutput> from rv, by expanding sizes </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="129" bodyend="140"/>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+        <references refid="classRV_1c878aab13f34b420e1eb5b485563682b" compoundref="libBM_8h" startline="46">sizes</references>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+        <references refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" compoundref="libBM_8h" startline="40">tsize</references>
+        <referencedby refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" compoundref="libBM_8cpp" startline="142" endline="152">dataind</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>ivec</type>
+        <definition>ivec RV::dataind</definition>
+        <argsstring>(RV crv) const </argsstring>
+        <name>dataind</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>crv</declname>
+        </param>
+        <briefdescription>
+<para>generate indeces into </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>crv</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>data vector that form data vector of self. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="142" bodyend="152"/>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+        <references refid="classstr_18c4e7241505999c272eb15e586ba7923" compoundref="libBM_8h" startline="24">str::ids</references>
+        <references refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" compoundref="libBM_8h" startline="42">len</references>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+        <references refid="classstr_1a55be419d33638dd0b2de3ecd64a4f27" compoundref="libBM_8h" startline="25">str::times</references>
+        <references refid="classRV_152f3ade796814da627ff5a44d00986be" compoundref="libBM_8cpp" startline="129" endline="140">tostr</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1b88ef5124713c9e30fd9446846b3f044" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>Array&lt; std::string &gt; &amp;</type>
+        <definition>Array&lt;std::string&gt;&amp; RV::_names</definition>
+        <argsstring>()</argsstring>
+        <name>_names</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="95" bodyend="95"/>
+        <references refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" compoundref="libBM_8h" startline="50">names</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_14a0069bc69f5a98d7ce9ed59077f2e6c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int RV::id</definition>
+        <argsstring>(int at)</argsstring>
+        <name>id</name>
+        <param>
+          <type>int</type>
+          <declname>at</declname>
+        </param>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="98" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="98" bodyend="98"/>
+        <references refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" compoundref="libBM_8h" startline="44">ids</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_120db23a5585d64a6e24404cc8379bc28" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int RV::size</definition>
+        <argsstring>(int at)</argsstring>
+        <name>size</name>
+        <param>
+          <type>int</type>
+          <declname>at</declname>
+        </param>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="100" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="100" bodyend="100"/>
+        <references refid="classRV_1c878aab13f34b420e1eb5b485563682b" compoundref="libBM_8h" startline="46">sizes</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_1af068cf478864fe1a4fbfc6b4693b088" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int RV::time</definition>
+        <argsstring>(int at)</argsstring>
+        <name>time</name>
+        <param>
+          <type>int</type>
+          <declname>at</declname>
+        </param>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="102" bodyend="102"/>
+        <references refid="classRV_1646e530c47a2dd38254b778d9f11ac89" compoundref="libBM_8h" startline="48">times</references>
+      </memberdef>
+      <memberdef kind="function" id="classRV_13ae4dd6e368f814a02710636ac8e1721" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>std::string</type>
+        <definition>std::string RV::name</definition>
+        <argsstring>(int at)</argsstring>
+        <name>name</name>
+        <param>
+          <type>int</type>
+          <declname>at</declname>
+        </param>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="104" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="104" bodyend="104"/>
+        <references refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" compoundref="libBM_8h" startline="50">names</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="friend">
+      <memberdef kind="friend" id="classRV_1cad6f15535d10437f6690cb4492176a8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>friend std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const RV &amp;rv)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <briefdescription>
+<para>Printing output e.g. for debugging. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="66" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="120" bodyend="127"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class representing variables, most often random variables. </para>    </briefdescription>
+    <detaileddescription>
+<para>More?... </para>    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="37" bodyend="105"/>
+    <listofallmembers>
+      <member refid="classRV_1b88ef5124713c9e30fd9446846b3f044" prot="public" virt="non-virtual"><scope>RV</scope><name>_names</name></member>
+      <member refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" prot="public" virt="non-virtual"><scope>RV</scope><name>add</name></member>
+      <member refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" prot="public" virt="non-virtual"><scope>RV</scope><name>count</name></member>
+      <member refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" prot="public" virt="non-virtual"><scope>RV</scope><name>dataind</name></member>
+      <member refid="classRV_182cc7fa22ce91cf461a522ad62014c65" prot="public" virt="non-virtual"><scope>RV</scope><name>equal</name></member>
+      <member refid="classRV_10c493a7a897f4d75682f4264e40779a1" prot="public" virt="non-virtual"><scope>RV</scope><name>findself</name></member>
+      <member refid="classRV_14a0069bc69f5a98d7ce9ed59077f2e6c" prot="public" virt="non-virtual"><scope>RV</scope><name>id</name></member>
+      <member refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" prot="protected" virt="non-virtual"><scope>RV</scope><name>ids</name></member>
+      <member refid="classRV_1799b75351112669ea6bcbbbd950c093f" prot="private" virt="non-virtual"><scope>RV</scope><name>init</name></member>
+      <member refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" prot="protected" virt="non-virtual"><scope>RV</scope><name>len</name></member>
+      <member refid="classRV_1c114a6f3ff06796cc2f4dacba74291eb" prot="public" virt="non-virtual"><scope>RV</scope><name>length</name></member>
+      <member refid="classRV_13ae4dd6e368f814a02710636ac8e1721" prot="public" virt="non-virtual"><scope>RV</scope><name>name</name></member>
+      <member refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" prot="protected" virt="non-virtual"><scope>RV</scope><name>names</name></member>
+      <member refid="classRV_165e5b820e482caff7f284d11898ef64f" prot="public" virt="non-virtual"><scope>RV</scope><name>operator()</name></member>
+      <member refid="classRV_1cad6f15535d10437f6690cb4492176a8" prot="public" virt="non-virtual"><scope>RV</scope><name>operator&lt;&lt;</name></member>
+      <member refid="classRV_1bedfd8d197f0a7ac28a4d412dfc5b8af" prot="public" virt="non-virtual"><scope>RV</scope><name>RV</name></member>
+      <member refid="classRV_17b88a74204fdf044e02f2807769839b7" prot="public" virt="non-virtual"><scope>RV</scope><name>RV</name></member>
+      <member refid="classRV_1261702f85831392d7d67e2bcf0b69960" prot="public" virt="non-virtual"><scope>RV</scope><name>RV</name></member>
+      <member refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" prot="public" virt="non-virtual"><scope>RV</scope><name>RV</name></member>
+      <member refid="classRV_120db23a5585d64a6e24404cc8379bc28" prot="public" virt="non-virtual"><scope>RV</scope><name>size</name></member>
+      <member refid="classRV_1c878aab13f34b420e1eb5b485563682b" prot="protected" virt="non-virtual"><scope>RV</scope><name>sizes</name></member>
+      <member refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" prot="public" virt="non-virtual"><scope>RV</scope><name>subselect</name></member>
+      <member refid="classRV_1a85c47bd838ebbdcb6798d7843e87db2" prot="public" virt="non-virtual"><scope>RV</scope><name>subt</name></member>
+      <member refid="classRV_1e0a158d53ab9430627241f844f4c9a60" prot="public" virt="non-virtual"><scope>RV</scope><name>t</name></member>
+      <member refid="classRV_1af068cf478864fe1a4fbfc6b4693b088" prot="public" virt="non-virtual"><scope>RV</scope><name>time</name></member>
+      <member refid="classRV_1646e530c47a2dd38254b778d9f11ac89" prot="protected" virt="non-virtual"><scope>RV</scope><name>times</name></member>
+      <member refid="classRV_152f3ade796814da627ff5a44d00986be" prot="public" virt="non-virtual"><scope>RV</scope><name>tostr</name></member>
+      <member refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" prot="protected" virt="non-virtual"><scope>RV</scope><name>tsize</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/simulator_8h.xml
===================================================================
--- /doc/xml/simulator_8h.xml (revision 187)
+++ /doc/xml/simulator_8h.xml (revision 187)
@@ -0,0 +1,188 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="simulator_8h" kind="file">
+    <compoundname>simulator.h</compoundname>
+    <includedby refid="pmsm__mix_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <includedby refid="pmsm__sim_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim.cpp</includedby>
+    <includedby refid="pmsm__sim2_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby>
+    <includedby refid="pmsm__sim3_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim3.cpp</includedby>
+    <includedby refid="sim__var_8cpp" local="yes">work/git/mixpp/pmsm/sim_var.cpp</includedby>
+    <includedby refid="ekf__obj_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp</includedby>
+    <includedby refid="simulator_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp</includedby>
+    <invincdepgraph>
+      <node id="709">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/simulator.h</label>
+        <link refid="simulator.h"/>
+        <childnode refid="710" relation="include">
+        </childnode>
+        <childnode refid="711" relation="include">
+        </childnode>
+      </node>
+      <node id="711">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="710">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="simulator_8h_1e71449b1cc6e6250b91f539153a7a0d3" prot="public" static="no">
+        <name>M_PI</name>
+        <initializer>3.14159265358979323846</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h" line="15" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="simulator_8h_1ef96d7e2af821e8829d40ed1d8b0901d" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double x[9]</definition>
+        <argsstring>[9]</argsstring>
+        <name>x</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h" line="22" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="2" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simulator_8h_187accd1af8e0aff4b818d891374f7cec" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double t</definition>
+        <argsstring></argsstring>
+        <name>t</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h" line="23" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simulator_8h_1f053457859f34ead8e8aee6e370743ac" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double KalmanObs[10]</definition>
+        <argsstring>[10]</argsstring>
+        <name>KalmanObs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="71" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="simulator_8h_148bbddff535c313ce90ca6350372f6d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pmsmsim_set_parameters</definition>
+        <argsstring>(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)</argsstring>
+        <name>pmsmsim_set_parameters</name>
+        <param>
+          <type>double</type>
+          <declname>Rs0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ls0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Fmag0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Bf0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>J0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>dt0</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h" line="19"/>
+      </memberdef>
+      <memberdef kind="function" id="simulator_8h_1cdadda61be3f910910ac31cf4a3c1785" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pmsmsim_step</definition>
+        <argsstring>(double Ww)</argsstring>
+        <name>pmsmsim_step</name>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h" line="20"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Simulator<sp/>of<sp/>Vector<sp/>Controlled<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>This<sp/>module<sp/>is<sp/>background<sp/>for<sp/>PMSM<sp/>drive<sp/>object<sp/>design<sp/>and</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>introduces<sp/>basic<sp/>functions<sp/>...<sp/>set_parameters()<sp/>and<sp/>eval().</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>resi<sp/>problem<sp/>s<sp/>M_PI<sp/>ve<sp/>VC8</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#ifndef<sp/>M_PI</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>M_PI<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>3.14159265358979323846</highlight></codeline>
+<codeline lineno="16"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="17"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_step(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[9];<sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>t;<sp/></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>KalmanObs[10];</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classIntUI.xml
===================================================================
--- /doc/xml/classIntUI.xml (revision 187)
+++ /doc/xml/classIntUI.xml (revision 187)
@@ -0,0 +1,385 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classIntUI" kind="class" prot="public">
+    <compoundname>IntUI</compoundname>
+    <basecompoundref refid="classValuedUserInfo" prot="public" virt="non-virtual">ValuedUserInfo&lt; int &gt;</basecompoundref>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classIntUI_1ddc71e4ee9a91b7458d90ef1d5ec0e5a" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>int *</type>
+        <definition>int* IntUI::AssemblyInstance</definition>
+        <argsstring>()</argsstring>
+        <name>AssemblyInstance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="654" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="653" bodyend="656"/>
+      </memberdef>
+      <memberdef kind="function" id="classIntUI_116eec292003213f5ba858bb5b5897fac" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool IntUI::DisassemblyInstance</definition>
+        <argsstring>(int &amp;instance)</argsstring>
+        <name>DisassemblyInstance</name>
+        <param>
+          <type>int &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="659" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="658" bodyend="664"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classIntUI_195e4e0054ff46975add89add40452c8b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>IntUI::IntUI</definition>
+        <argsstring>()</argsstring>
+        <name>IntUI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+        <type>string</type>
+        <definition>string ValuedUserInfo&lt; int  &gt;::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+<para>string variable which is automatically binded to a proper DOMElement attribute </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+        <definition>const TypedUserInfo&lt; int &gt; &amp; TypedUserInfo&lt; int &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <initializer> IntUI()</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
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+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
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+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
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+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
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+        <type>bool</type>
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+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
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+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
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+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
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+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
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+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
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+        </childnode>
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+        <label>IntUI</label>
+        <childnode refid="1063" relation="public-inheritance">
+        </childnode>
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+        <link refid="classUserInfo"/>
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+typeNameByRTTI</edgelabel>
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+        <childnode refid="1070" relation="public-inheritance">
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+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>IntUI</scope><name>Assembly</name></member>
+      <member refid="classIntUI_1ddc71e4ee9a91b7458d90ef1d5ec0e5a" prot="private" virt="non-virtual"><scope>IntUI</scope><name>AssemblyInstance</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>BindingFrame</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>IntUI</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>IntUI</scope><name>Disassembly</name></member>
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+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="protected" virt="virtual"><scope>IntUI</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>UserInfo</name></member>
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+      <member refid="classValuedUserInfo_186897fcfe4666183bcecf16a23715cdb" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>ValuedUserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>XMLCh2str</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>~TypedUserInfo</name></member>
+      <member refid="classValuedUserInfo_14c37684500f88a6d7d8d06b73ab5267a" prot="protected" virt="non-virtual"><scope>IntUI</scope><name>~ValuedUserInfo</name></member>
+    </listofallmembers>
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Index: /doc/xml/dir_1534e176418f8276fa79ad7eed7ef0bd.xml
===================================================================
--- /doc/xml/dir_1534e176418f8276fa79ad7eed7ef0bd.xml (revision 187)
+++ /doc/xml/dir_1534e176418f8276fa79ad7eed7ef0bd.xml (revision 187)
@@ -0,0 +1,13 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_1534e176418f8276fa79ad7eed7ef0bd" kind="dir">
+    <compoundname>work/mixpp/CMakeFiles/</compoundname>
+    <innerdir refid="dir_2a4634b79ddaf4531d125eea945f5003">work/mixpp/CMakeFiles/CompilerIdC/</innerdir>
+    <innerdir refid="dir_236634e9130b7b367a49b1abb351738e">work/mixpp/CMakeFiles/CompilerIdCXX/</innerdir>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/CMakeFiles/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libKF_8cpp.xml
===================================================================
--- /doc/xml/libKF_8cpp.xml (revision 187)
+++ /doc/xml/libKF_8cpp.xml (revision 187)
@@ -0,0 +1,361 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libKF_8cpp" kind="file">
+    <compoundname>libKF.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="yes">libKF.h</includes>
+    <incdepgraph>
+      <node id="228">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="225" relation="include">
+        </childnode>
+      </node>
+      <node id="231">
+        <label>../itpp_ext.h</label>
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+        </childnode>
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+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="225" relation="include">
+        </childnode>
+        <childnode refid="230" relation="include">
+        </childnode>
+        <childnode refid="228" relation="include">
+        </childnode>
+        <childnode refid="231" relation="include">
+        </childnode>
+      </node>
+      <node id="227">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="225" relation="include">
+        </childnode>
+        <childnode refid="228" relation="include">
+        </childnode>
+      </node>
+      <node id="225">
+        <label>itpp/itbase.h</label>
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+        <link refid="chmat_8h"/>
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+        </childnode>
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+        </childnode>
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+        <label>libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="225" relation="include">
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+      <sectiondef kind="func">
+      <memberdef kind="function" id="libKF_8cpp_186ba216243ed95bb46d80d88775d16af" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const KalmanFull &amp;kf)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classKalmanFull" kindref="compound">KalmanFull</ref> &amp;</type>
+          <declname>kf</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" line="56" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="56" bodyend="59"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">libKF.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8" refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" refkind="member"><highlight class="normal"><ref refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" kindref="member" tooltip="For EKFfull;.">KalmanFull::KalmanFull</ref><sp/>(<sp/>mat<sp/>A0,<sp/>mat<sp/>B0,<sp/>mat<sp/>C0,<sp/>mat<sp/>D0,<sp/>mat<sp/>R0,<sp/>mat<sp/>Q0,<sp/>mat<sp/>P0,<sp/>vec<sp/>mu0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimx<sp/>=<sp/>A0.rows();</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimu<sp/>=<sp/>B0.cols();</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimy<sp/>=<sp/>C0.rows();</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>A0.cols()<sp/>==dimx,<sp/></highlight><highlight class="stringliteral">&quot;KalmanFull:<sp/>A<sp/>is<sp/>not<sp/>square&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>B0.rows()<sp/>==dimx,<sp/></highlight><highlight class="stringliteral">&quot;KalmanFull:<sp/>B<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>C0.cols()<sp/>==dimx,<sp/></highlight><highlight class="stringliteral">&quot;KalmanFull:<sp/>C<sp/>is<sp/>not<sp/>square&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>D0.rows()<sp/>==dimy<sp/>)<sp/>||<sp/>(<sp/>D0.cols()<sp/>==dimu<sp/>),<sp/></highlight><highlight class="stringliteral">&quot;KalmanFull:<sp/>D<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>R0.cols()<sp/>==dimy<sp/>)<sp/>||<sp/>(<sp/>R0.rows()<sp/>==dimy<sp/>),<sp/></highlight><highlight class="stringliteral">&quot;KalmanFull:<sp/>R<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>Q0.cols()<sp/>==dimx<sp/>)<sp/>||<sp/>(<sp/>Q0.rows()<sp/>==dimx<sp/>),<sp/></highlight><highlight class="stringliteral">&quot;KalmanFull:<sp/>Q<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>=<sp/>A0;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>B<sp/>=<sp/>B0;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C<sp/>=<sp/>C0;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>D<sp/>=<sp/>D0;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R<sp/>=<sp/>R0;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q<sp/>=<sp/>Q0;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref><sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref><sp/>=<sp/>P0;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ll<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evalll=</highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33" refid="classKalmanFull_113a041cd98ff157703766be275a657bb" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalmanFull_113a041cd98ff157703766be275a657bb" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">KalmanFull::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>dt.length()<sp/>==<sp/>(<sp/>dimy+dimu<sp/>),</highlight><highlight class="stringliteral">&quot;KalmanFull::bayes<sp/>wrong<sp/>size<sp/>of<sp/>dt&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u<sp/>=<sp/>dt.get<sp/>(<sp/>dimy,dimy+dimu-1<sp/>);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>=<sp/>dt.get<sp/>(<sp/>0,dimy-1<sp/>);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Time<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref><sp/>=<sp/>A*<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref><sp/>+<sp/>B*u;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref><sp/><sp/>=<sp/>A*<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>*A.transpose()<sp/>+<sp/>Q;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Data<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>_Ry<sp/>=<sp/>C*<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>*C.transpose()<sp/>+<sp/>R;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>_iRy<sp/>=<sp/>inv<sp/>(<sp/>_Ry<sp/>);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>_K<sp/>=<sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>*C.transpose()<sp/>*_iRy;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref><sp/>-=<sp/>_K*C*<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>;<sp/></highlight><highlight class="comment">//<sp/>P<sp/>=<sp/>P<sp/>-KCP;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref><sp/>+=<sp/>_K*<sp/>(<sp/>y-C*<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>-D*u<sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>evalll<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>enorm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>x=y-C*<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>-D*u;</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ll<sp/>=<sp/>-0.5*<sp/>(<sp/>R.cols()<sp/>*<sp/>1.83787706640935<sp/>+log<sp/>(<sp/>det<sp/>(<sp/>_Ry<sp/>)<sp/>)<sp/>+x*<sp/>(<sp/>_iRy*x<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="54"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56" refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" refkind="member"><highlight class="normal">std::ostream<sp/>&amp;<ref refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" kindref="member" tooltip="print elements of KF">operator&lt;&lt; </ref>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classKalmanFull" kindref="compound" tooltip="Basic Kalman filter with full matrices (education purpose only)! Will be deleted...">KalmanFull</ref><sp/>&amp;kf<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>os<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;mu:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>kf.<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref><sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;P:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>kf.<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>os;</highlight></codeline>
+<codeline lineno="59"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64" refid="classEKFfull_167ac4de96fd025197da767fe0472c7f7" refkind="member"><highlight class="normal"><ref refid="classEKFfull_167ac4de96fd025197da767fe0472c7f7" kindref="member" tooltip="Default constructor.">EKFfull::EKFfull</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvy0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu0<sp/>)<sp/>:<sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>(<sp/>rvx0<sp/>),E(rvx0)<sp/>{};</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66" refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">EKFfull::set_parameters</ref><sp/>(<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu0,<sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>Q0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>R0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu<sp/>=<sp/>pfxu0;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu<sp/>=<sp/>phxu0;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimx<sp/>=<sp/><ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>();</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimy<sp/>=<sp/>phxu0-&gt;<ref refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" kindref="member" tooltip="access function">_dimy</ref>();</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimu<sp/>=<sp/>phxu0-&gt;<ref refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" kindref="member" tooltip="access function">_dimu</ref>();</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A.set_size(dimx,dimx);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C.set_size(dimy,dimx);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//initialize<sp/>matrices<sp/>A<sp/>C,<sp/>later,<sp/>these<sp/>will<sp/>be<sp/>only<sp/>updated!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>,zeros<sp/>(<sp/>dimu<sp/>),A,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>B.clear();</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>,zeros<sp/>(<sp/>dimu<sp/>),C,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>D.clear();</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R<sp/>=<sp/>R0;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q<sp/>=<sp/>Q0;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86" refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKFfull::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>dt.length()<sp/>==<sp/>(<sp/>dimy+dimu<sp/>),</highlight><highlight class="stringliteral">&quot;KalmanFull::bayes<sp/>wrong<sp/>size<sp/>of<sp/>dt&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u<sp/>=<sp/>dt.get<sp/>(<sp/>dimy,dimy+dimu-1<sp/>);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>=<sp/>dt.get<sp/>(<sp/>0,dimy-1<sp/>);</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>,zeros<sp/>(<sp/>dimu<sp/>),A,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>,zeros<sp/>(<sp/>dimu<sp/>),C,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Time<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref><sp/>=<sp/>pfxu-&gt;<ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref>(<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>,u);</highlight><highlight class="comment">//<sp/>A*mu<sp/>+<sp/>B*u;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref><sp/><sp/>=<sp/>A*<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>*A.transpose()<sp/>+<sp/>Q;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Data<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>_Ry<sp/>=<sp/>C*<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>*C.transpose()<sp/>+<sp/>R;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>_iRy<sp/>=<sp/>inv<sp/>(<sp/>_Ry<sp/>);</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>_K<sp/>=<sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>*C.transpose()<sp/>*_iRy;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref><sp/>-=<sp/>_K*C*<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>;<sp/></highlight><highlight class="comment">//<sp/>P<sp/>=<sp/>P<sp/>-KCP;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>yp<sp/>=<sp/>phxu-&gt;<ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref>(<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>,u);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref><sp/>+=<sp/>_K*<sp/>(<sp/>y-yp<sp/>);</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>E.<ref refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" kindref="member" tooltip="access function">set_mu</ref>(<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>);</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">BM::evalll</ref><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>enorm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>x=y-yp;</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">BM::ll</ref><sp/>=<sp/>-0.5*<sp/>(<sp/>R.cols()<sp/>*<sp/>1.83787706640935<sp/>+log<sp/>(<sp/>det<sp/>(<sp/>_Ry<sp/>)<sp/>)<sp/>+x*<sp/>(<sp/>_iRy*x<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="114"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight></codeline>
+<codeline lineno="118" refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" kindref="member" tooltip="Set parameters with check of relevance.">KalmanCh::set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;B0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;D0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;R0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/>(<sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman&lt;chmat&gt;</ref>*<sp/>)<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>)-&gt;set_parameters<sp/>(<sp/>A0,B0,C0,D0,R0,Q0<sp/>);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Cholesky<sp/>special!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.clear();</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/>0,0,<ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="125"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="128" refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">KalmanCh::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u<sp/>=<sp/>dt.get<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>=<sp/>dt.get<sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>);</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//TODO<sp/>get<sp/>rid<sp/>of<sp/>Q<sp/>in<sp/>qr()!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Q;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//R<sp/>and<sp/>Q<sp/>are<sp/>already<sp/>set<sp/>in<sp/>set_parameters()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,0,<sp/>(<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>*<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>.T()<sp/>);</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Fixme<sp/>can<sp/>be<sp/>more<sp/>efficient<sp/>if<sp/>.T()<sp/>is<sp/>not<sp/>used</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<sp/>(<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>*<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>.T()<sp/>);</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(<sp/>!qr<sp/>(<sp/>preA,Q,postA<sp/>)<sp/>)<sp/>it_warning<sp/>(<sp/>&quot;QR<sp/>in<sp/>kalman<sp/>unstable!&quot;<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>!qr<sp/>(<sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>,<ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>)<sp/>)<sp/>{it_warning<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;QR<sp/>in<sp/>kalman<sp/>unstable!&quot;</highlight><highlight class="normal"><sp/>);}</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>=<ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1,<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>=<sp/>inv(<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>)*(<sp/><ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>-1<sp/>)<sp/>).T();</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>=<sp/><ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>-1,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>=<sp/><ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>*<sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>)<sp/>+<sp/><ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref>*u;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/>=<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>*<ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>-<ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref>*u;</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>backward_substitution(<ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>(),(<sp/>y-_yp),pom);</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>+=<sp/><sp/>(<sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>)<sp/>*<sp/>pom;</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;P:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Ry:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.<ref refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;_K:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref>==</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{<sp/></highlight><highlight class="comment">//likelihood<sp/>of<sp/>observation<sp/>y</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref>=<ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>.<ref refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/>y<sp/>);</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="162"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"></highlight></codeline>
+<codeline lineno="165" refid="classEKFCh_1e9e39a9204db3dda88d06e47c1e19064" refkind="member"><highlight class="normal"><ref refid="classEKFCh_1e9e39a9204db3dda88d06e47c1e19064" kindref="member" tooltip="Default constructor.">EKFCh::EKFCh</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvy0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu0<sp/>)<sp/>:<sp/><ref refid="classKalmanCh" kindref="compound" tooltip="Kalman filter in square root form.">KalmanCh</ref><sp/>(<sp/>rvx0,rvy0,rvu0<sp/>)<sp/>{}</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight></codeline>
+<codeline lineno="167" refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">EKFCh::set_parameters</ref><sp/>(<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu0,<sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu<sp/>=<sp/>pfxu0;</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu<sp/>=<sp/>phxu0;</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"></highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//initialize<sp/>matrices<sp/>A<sp/>C,<sp/>later,<sp/>these<sp/>will<sp/>be<sp/>only<sp/>updated!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,zeros<sp/>(<sp/><ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;dfdu_cond<sp/>(<sp/>*_mu,zeros<sp/>(<sp/>dimu<sp/>),B,true<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref>.clear();</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,zeros<sp/>(<sp/><ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;dfdu_cond<sp/>(<sp/>*_mu,zeros<sp/>(<sp/>dimu<sp/>),D,true<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref>.clear();</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref><sp/>=<sp/>R0;</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref><sp/>=<sp/>Q0;</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"></highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Cholesky<sp/>special!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.clear();</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/>0,0,<ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="186"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"></highlight></codeline>
+<codeline lineno="188"><highlight class="normal"></highlight></codeline>
+<codeline lineno="189" refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKFCh::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"></highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>);</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u<sp/>=<sp/>dt.get<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>=<sp/>dt.get<sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"></highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,u,<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>,</highlight><highlight class="keyword">false</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//update<sp/>A<sp/>by<sp/>a<sp/>derivative<sp/>of<sp/>fx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,u,<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,</highlight><highlight class="keyword">false</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//update<sp/>A<sp/>by<sp/>a<sp/>derivative<sp/>of<sp/>fx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"></highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//R<sp/>and<sp/>Q<sp/>are<sp/>already<sp/>set<sp/>in<sp/>set_parameters()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,0,<sp/>(<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>*<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>.T()<sp/>);</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Fixme<sp/>can<sp/>be<sp/>more<sp/>efficient<sp/>if<sp/>.T()<sp/>is<sp/>not<sp/>used</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<sp/>(<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>*<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>.T()<sp/>);</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight></codeline>
+<codeline lineno="203"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Sttm<sp/>=<sp/>_P-&gt;to_mat();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="204"><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(<sp/>!qr<sp/>(<sp/>preA,Q,postA<sp/>)<sp/>)<sp/>it_warning<sp/>(<sp/>&quot;QR<sp/>in<sp/>kalman<sp/>unstable!&quot;<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>!qr<sp/>(<sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>,<ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>)<sp/>)<sp/>{it_warning<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;QR<sp/>in<sp/>kalman<sp/>unstable!&quot;</highlight><highlight class="normal"><sp/>);}</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>=<ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1,<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>=<sp/>inv(<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>)*(<sp/><ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>-1<sp/>)<sp/>).T();</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>)<sp/>=<sp/><ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref><sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>-1,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="212"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>iRY<sp/>=<sp/>inv(_Ry-&gt;to_mat());</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="213"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Stt<sp/>=<sp/>Sttm<sp/>-<sp/>Sttm<sp/>*<sp/>C.T()<sp/>*<sp/>iRY<sp/>*<sp/>C<sp/>*<sp/>Sttm;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="214"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>_K2<sp/>=<sp/>Stt*C.T()*inv(R.to_mat());</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="215"><highlight class="normal"></highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>prediction</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>=<sp/>pfxu-&gt;<ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>,u<sp/>);</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/>=<sp/>phxu-&gt;<ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,u<sp/>);</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="220"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu2<sp/>=<sp/>*_mu<sp/>+<sp/>(<sp/>_K2<sp/>)<sp/>*<sp/>(<sp/>y-*_yp<sp/>);*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//correction<sp/>//=<sp/>initial<sp/>value<sp/>is<sp/>already<sp/>prediction!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>backward_substitution(<ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>(),(<sp/>y-<ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/>),pom);</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>+=<sp/>(<sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>)<sp/>*pom<sp/>;</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"></highlight></codeline>
+<codeline lineno="226"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/>_K<sp/>=<sp/>(_P-&gt;to_mat())*C.transpose()<sp/>*<sp/>(<sp/>_iRy-&gt;to_mat()<sp/>);</highlight></codeline>
+<codeline lineno="227"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*_mu<sp/>=<sp/>pfxu-&gt;eval<sp/>(<sp/>*_mu<sp/>,u<sp/>)<sp/>+<sp/>(<sp/>_K<sp/>)*<sp/>(<sp/>y-*_yp<sp/>);*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;P:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Ry:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.<ref refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;_K:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"></highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref>==</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{<sp/></highlight><highlight class="comment">//likelihood<sp/>of<sp/>observation<sp/>y</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref>=<ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>.<ref refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/>y<sp/>);</highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="236"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"></highlight></codeline>
+<codeline lineno="238" refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" kindref="member" tooltip="Substitute val for rvc.">KFcondQR::condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;QR<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>QR.length()<sp/>==<sp/>(<sp/><ref refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" kindref="member" tooltip="Identificator of the conditioning variable.">rvc</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>),</highlight><highlight class="stringliteral">&quot;KFcondRQ:<sp/>conditioning<sp/>by<sp/>incompatible<sp/>vector&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classldmat_10884a613b94fde61bfc84288e73ce57f" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>QR<sp/>(<sp/>0,<sp/><ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>-1<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>.<ref refid="classldmat_10884a613b94fde61bfc84288e73ce57f" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>QR<sp/>(<sp/><ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<sp/>-1<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="243"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"></highlight></codeline>
+<codeline lineno="245" refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" kindref="member" tooltip="Substitute val for rvc.">KFcondR::condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;R0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>R0.length()<sp/>==<sp/>(<sp/><ref refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" kindref="member" tooltip="Identificator of the conditioning variable.">rvc</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>),</highlight><highlight class="stringliteral">&quot;KFcondR:<sp/>conditioning<sp/>by<sp/>incompatible<sp/>vector&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>.<ref refid="classldmat_10884a613b94fde61bfc84288e73ce57f" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>R0<sp/>);</highlight></codeline>
+<codeline lineno="249"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"></highlight></codeline>
+<codeline lineno="251"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classegiw.xml
===================================================================
--- /doc/xml/classegiw.xml (revision 187)
+++ /doc/xml/classegiw.xml (revision 187)
@@ -0,0 +1,404 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classegiw" kind="class" prot="public">
+    <compoundname>egiw</compoundname>
+    <basecompoundref refid="classeEF" prot="public" virt="non-virtual">eEF</basecompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classegiw_1f343d03ede89db820edf44a6297fa442" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref></type>
+        <definition>ldmat egiw::V</definition>
+        <argsstring></argsstring>
+        <name>V</name>
+        <briefdescription>
+<para>Extended information matrix of sufficient statistics. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="120" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="120" bodyend="-1"/>
+        <referencedby refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" compoundref="libEF_8h" startline="136" endline="136">_V</referencedby>
+        <referencedby refid="classegiw_1c52a2173c6eb1490edce9c6c7c05d60b" compoundref="libEF_8h" startline="125" endline="127">egiw</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">evalpdflog</referencedby>
+        <referencedby refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">lognc</referencedby>
+        <referencedby refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" compoundref="libEF_8cpp" startline="40" endline="53">mean</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classegiw_14a2f130b91afe84f6d62fed289d5d453" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double egiw::nu</definition>
+        <argsstring></argsstring>
+        <name>nu</name>
+        <briefdescription>
+<para>Number of data records (degrees of freedom) of sufficient statistics. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="122" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="122" bodyend="-1"/>
+        <referencedby refid="classegiw_108029c481ff95d24f093df0573879afe" compoundref="libEF_8h" startline="138" endline="138">_nu</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">evalpdflog</referencedby>
+        <referencedby refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">lognc</referencedby>
+        <referencedby refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" compoundref="libEF_8cpp" startline="40" endline="53">mean</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classegiw_1c52a2173c6eb1490edce9c6c7c05d60b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>egiw::egiw</definition>
+        <argsstring>(RV rv, mat V0, double nu0)</argsstring>
+        <name>egiw</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>V0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nu0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="125" bodyend="127"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" compoundref="libDC_8h" startline="279" endline="279">ldmat::rows</references>
+        <references refid="classegiw_1f343d03ede89db820edf44a6297fa442" compoundref="libEF_8h" startline="120">V</references>
+      </memberdef>
+      <memberdef kind="function" id="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>vec</type>
+        <definition>vec egiw::sample</definition>
+        <argsstring>() const </argsstring>
+        <name>sample</name>
+        <reimplements refid="classepdf_18019654e494bf5e458f6fb947e11b262">sample</reimplements>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="129" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="14" bodyend="17"/>
+      </memberdef>
+      <memberdef kind="function" id="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>vec</type>
+        <definition>vec egiw::mean</definition>
+        <argsstring>() const </argsstring>
+        <name>mean</name>
+        <reimplements refid="classepdf_1bf0a070a8f3e67a93604ca724638b870">mean</reimplements>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="130" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="40" bodyend="53"/>
+        <references refid="classldmat_1282c879f50aa9ef934e7f46d86881582" compoundref="libDC_8h" startline="248" endline="248">ldmat::_D</references>
+        <references refid="classldmat_15f44f100248c6627314afaa653b9e5bd" compoundref="libDC_8h" startline="250" endline="250">ldmat::_L</references>
+        <references refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" compoundref="libEF_8h" startline="122">nu</references>
+        <references refid="classegiw_1f343d03ede89db820edf44a6297fa442" compoundref="libEF_8h" startline="120">V</references>
+      </memberdef>
+      <memberdef kind="function" id="classegiw_1425cbc53b377274e28c6add942bab62d" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double egiw::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <reimplements refid="classepdf_16aef3eca74899692503769c18add1a4c">evalpdflog</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute log-probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="131" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="19" bodyend="29"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">lognc</references>
+        <references refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" compoundref="libEF_8h" startline="122">nu</references>
+        <references refid="classldmat_1d64f331b781903e913cb2ee836886f3f" compoundref="libDC_8cpp" startline="156" endline="169">ldmat::qform</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <references refid="classegiw_1f343d03ede89db820edf44a6297fa442" compoundref="libEF_8h" startline="120">V</references>
+      </memberdef>
+      <memberdef kind="function" id="classegiw_170eb1a0b88459b227f919b425b0d3359" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double egiw::lognc</definition>
+        <argsstring>() const </argsstring>
+        <name>lognc</name>
+        <reimplements refid="classeEF_169e5680dac10375d62520d26c672477d">lognc</reimplements>
+        <briefdescription>
+<para>logarithm of the normalizing constant, <formula id="60">$\mathcal{I}$</formula> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="132" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="31" bodyend="38"/>
+        <references refid="classldmat_1282c879f50aa9ef934e7f46d86881582" compoundref="libDC_8h" startline="248" endline="248">ldmat::_D</references>
+        <references refid="classldmat_12b42750ba4962d439aa52a77ae12949b" compoundref="libDC_8cpp" startline="148" endline="154">ldmat::logdet</references>
+        <references refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" compoundref="libEF_8h" startline="122">nu</references>
+        <references refid="classegiw_1f343d03ede89db820edf44a6297fa442" compoundref="libEF_8h" startline="120">V</references>
+        <referencedby refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" compoundref="arx_8h" startline="52" endline="52">ARX::ARX</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">evalpdflog</referencedby>
+        <referencedby refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" compoundref="arx_8h" startline="54" endline="54">ARX::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classegiw_1533e792e1175bfa06d5d595dc5d080d5" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat&amp; egiw::_V</definition>
+        <argsstring>()</argsstring>
+        <name>_V</name>
+        <briefdescription>
+<para>returns a pointer to the internal statistics. Use with Care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="136" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="136" bodyend="136"/>
+        <references refid="classegiw_1f343d03ede89db820edf44a6297fa442" compoundref="libEF_8h" startline="120">V</references>
+        <referencedby refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" compoundref="arx_8h" startline="56" endline="56">ARX::get_parameters</referencedby>
+        <referencedby refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" compoundref="arx_8h" startline="54" endline="54">ARX::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classegiw_108029c481ff95d24f093df0573879afe" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>double &amp;</type>
+        <definition>double&amp; egiw::_nu</definition>
+        <argsstring>()</argsstring>
+        <name>_nu</name>
+        <briefdescription>
+<para>returns a pointer to the internal statistics. Use with Care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="138" bodyend="138"/>
+        <references refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" compoundref="libEF_8h" startline="122">nu</references>
+        <referencedby refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" compoundref="arx_8h" startline="56" endline="56">ARX::get_parameters</referencedby>
+        <referencedby refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" compoundref="arx_8h" startline="54" endline="54">ARX::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void eEF::tupdate</definition>
+        <argsstring>(double phi, mat &amp;vbar, double nubar)</argsstring>
+        <name>tupdate</name>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <param>
+          <type>double</type>
+          <declname>phi</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>vbar</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nubar</declname>
+        </param>
+        <briefdescription>
+<para>TODO decide if it is really needed. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="46" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="46" bodyend="46"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEF_15863718c3b2fb1496dece10c5b745d5c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void eEF::dupdate</definition>
+        <argsstring>(mat &amp;v, double nu=1.0)</argsstring>
+        <name>dupdate</name>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <param>
+          <type>mat &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nu</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>TODO decide if it is really needed. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="48" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="48" bodyend="48"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="153" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="153" bodyend="153"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Gauss-inverse-Wishart density stored in LD form. </para>    </briefdescription>
+    <detaileddescription>
+<para>More?... </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="853">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="852">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="853" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="851">
+        <label>egiw</label>
+        <link refid="classegiw"/>
+        <childnode refid="852" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="858">
+        <label>ldmat</label>
+        <link refid="classldmat"/>
+        <childnode refid="859" relation="private-inheritance">
+        </childnode>
+      </node>
+      <node id="856">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="857" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="857">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="859">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="855">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="856" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="854">
+        <label>egiw</label>
+        <link refid="classegiw"/>
+        <childnode refid="855" relation="public-inheritance">
+        </childnode>
+        <childnode refid="858" relation="usage">
+          <edgelabel>V</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="117" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="117" bodyend="140"/>
+    <listofallmembers>
+      <member refid="classegiw_108029c481ff95d24f093df0573879afe" prot="public" virt="non-virtual"><scope>egiw</scope><name>_nu</name></member>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>egiw</scope><name>_rv</name></member>
+      <member refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" prot="public" virt="non-virtual"><scope>egiw</scope><name>_V</name></member>
+      <member refid="classeEF_15863718c3b2fb1496dece10c5b745d5c" prot="public" virt="virtual"><scope>egiw</scope><name>dupdate</name></member>
+      <member refid="classeEF_17e3c63655e8375c76bf1f421245427a7" prot="public" virt="non-virtual"><scope>egiw</scope><name>eEF</name></member>
+      <member refid="classegiw_1c52a2173c6eb1490edce9c6c7c05d60b" prot="public" virt="non-virtual"><scope>egiw</scope><name>egiw</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>egiw</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>egiw</scope><name>epdf</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>egiw</scope><name>eval</name></member>
+      <member refid="classegiw_1425cbc53b377274e28c6add942bab62d" prot="public" virt="virtual"><scope>egiw</scope><name>evalpdflog</name></member>
+      <member refid="classegiw_170eb1a0b88459b227f919b425b0d3359" prot="public" virt="virtual"><scope>egiw</scope><name>lognc</name></member>
+      <member refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" prot="public" virt="virtual"><scope>egiw</scope><name>mean</name></member>
+      <member refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" prot="protected" virt="non-virtual"><scope>egiw</scope><name>nu</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>egiw</scope><name>rv</name></member>
+      <member refid="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f" prot="public" virt="virtual"><scope>egiw</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>egiw</scope><name>sampleN</name></member>
+      <member refid="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" prot="public" virt="virtual"><scope>egiw</scope><name>tupdate</name></member>
+      <member refid="classegiw_1f343d03ede89db820edf44a6297fa442" prot="protected" virt="non-virtual"><scope>egiw</scope><name>V</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>egiw</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_d37b9ef643da2e8513ad02424f861908.xml
===================================================================
--- /doc/xml/dir_d37b9ef643da2e8513ad02424f861908.xml (revision 187)
+++ /doc/xml/dir_d37b9ef643da2e8513ad02424f861908.xml (revision 187)
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_d37b9ef643da2e8513ad02424f861908" kind="dir">
+    <compoundname>work/mixpp/bdm/estim/</compoundname>
+    <innerfile refid="bdm_2estim_2arx_8cpp">arx.cpp</innerfile>
+    <innerfile refid="arx_8h">arx.h</innerfile>
+    <innerfile refid="ekf__templ_8h">ekf_templ.h</innerfile>
+    <innerfile refid="libKF_8cpp">libKF.cpp</innerfile>
+    <innerfile refid="libKF_8h">libKF.h</innerfile>
+    <innerfile refid="libPF_8cpp">libPF.cpp</innerfile>
+    <innerfile refid="libPF_8h">libPF.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/bdm/estim/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classIMpmsmStat.xml
===================================================================
--- /doc/xml/classIMpmsmStat.xml (revision 187)
+++ /doc/xml/classIMpmsmStat.xml (revision 187)
@@ -0,0 +1,555 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classIMpmsmStat" kind="class" prot="public">
+    <compoundname>IMpmsmStat</compoundname>
+    <basecompoundref refid="classIMpmsm" prot="public" virt="non-virtual">IMpmsm</basecompoundref>
+    <includes refid="pmsm_8h" local="no">pmsm.h</includes>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classIMpmsmStat_1cd1f00dad79ce2760b009a3130654b36" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>IMpmsmStat::IMpmsmStat</definition>
+        <argsstring>()</argsstring>
+        <name>IMpmsmStat</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="74" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="74" bodyend="74"/>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsmStat_16379210623a2d353d42bfc87ccbd4384" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void IMpmsmStat::set_parameters</definition>
+        <argsstring>(double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0)</argsstring>
+        <name>set_parameters</name>
+        <reimplements refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228">set_parameters</reimplements>
+        <param>
+          <type>double</type>
+          <declname>Rs0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ls0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>dt0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ypm0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>J0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Mz0</declname>
+        </param>
+        <briefdescription>
+<para>Set mechanical and electrical variables. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="76" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="76" bodyend="76"/>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsmStat_15ed3582c2c0edb0753387a82598f8d21" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec IMpmsmStat::eval</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classIMpmsm_145785869d978dda42828a072ec2caebe">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="78" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="78" bodyend="97"/>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsmStat_129a9c09fd328e89748d9be0801e84831" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void IMpmsmStat::dfdx_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdx_cond</name>
+        <reimplements refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1">dfdx_cond</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="1">$A=\frac{d}{dx}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="99" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="99" bodyend="117"/>
+      </memberdef>
+      <memberdef kind="function" id="classIMpmsmStat_1ff740ee20100ae2a2d03a2538638f8e8" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void IMpmsmStat::dfdu_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdu_cond</name>
+        <reimplements refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5">dfdu_cond</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="2">$A=\frac{d}{du}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="119" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="119" bodyend="119"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classIMpmsm_15908138b6c11f32971542423978a25d3" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Rs</definition>
+        <argsstring></argsstring>
+        <name>Rs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_1829e309d689b7e148d761d36b1b62fb7" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Ls</definition>
+        <argsstring></argsstring>
+        <name>Ls</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_1ec462f3df7355cc72843c945d887b9d3" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::dt</definition>
+        <argsstring></argsstring>
+        <name>dt</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_1a1b973c18d381e7ec717165aa306b613" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Ypm</definition>
+        <argsstring></argsstring>
+        <name>Ypm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_103f1857fb1910c7b06dac4ce50482516" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::kp</definition>
+        <argsstring></argsstring>
+        <name>kp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_10eddf56a8feb6b837ee3c36c0ac6b781" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::p</definition>
+        <argsstring></argsstring>
+        <name>p</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_183e4149bb70b022f3a19208f14eac0e3" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::J</definition>
+        <argsstring></argsstring>
+        <name>J</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classIMpmsm_10aa4f9ee2b9babdc05f62ba275a9575f" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double IMpmsm::Mz</definition>
+        <argsstring></argsstring>
+        <name>Mz</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvx</definition>
+        <argsstring></argsstring>
+        <name>rvx</name>
+        <briefdescription>
+<para>Indentifier of the first rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="67" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indentifier of the second rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="69" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache for rvx.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" compoundref="libFN_8h" startline="91" endline="91">diffbifn::_dimx</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache for rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">diffbifn::eval</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec diffbifn::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula> (VS: Do we really need common eval? ). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="76" bodyend="80"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimx</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimx</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="91" bodyend="91"/>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimu</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimu</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="93" bodyend="93"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>State evolution model for a PMSM drive and its derivative with respect to <formula id="28">$x$</formula>, equation for <formula id="65">$\omega$</formula> is omitted.$. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1053">
+        <label>IMpmsmStat</label>
+        <link refid="classIMpmsmStat"/>
+        <childnode refid="1054" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1055">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="1056" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1056">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="1054">
+        <label>IMpmsm</label>
+        <link refid="classIMpmsm"/>
+        <childnode refid="1055" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1057">
+        <label>IMpmsmStat</label>
+        <link refid="classIMpmsmStat"/>
+        <childnode refid="1058" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1061">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1059">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="1060" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1061" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="1060">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="1058">
+        <label>IMpmsm</label>
+        <link refid="classIMpmsm"/>
+        <childnode refid="1059" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="73" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="73" bodyend="121"/>
+    <listofallmembers>
+      <member refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" virt="non-virtual"><scope>IMpmsmStat</scope><name>_dimu</name></member>
+      <member refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" virt="non-virtual"><scope>IMpmsmStat</scope><name>_dimx</name></member>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>IMpmsmStat</scope><name>_dimy</name></member>
+      <member refid="classIMpmsmStat_1ff740ee20100ae2a2d03a2538638f8e8" prot="private" virt="virtual"><scope>IMpmsmStat</scope><name>dfdu_cond</name></member>
+      <member refid="classIMpmsmStat_129a9c09fd328e89748d9be0801e84831" prot="private" virt="virtual"><scope>IMpmsmStat</scope><name>dfdx_cond</name></member>
+      <member refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" prot="public" virt="non-virtual"><scope>IMpmsmStat</scope><name>diffbifn</name></member>
+      <member refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>dimu</name></member>
+      <member refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>dimx</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>dimy</name></member>
+      <member refid="classIMpmsm_1ec462f3df7355cc72843c945d887b9d3" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>dt</name></member>
+      <member refid="classIMpmsmStat_15ed3582c2c0edb0753387a82598f8d21" prot="private" virt="virtual"><scope>IMpmsmStat</scope><name>eval</name></member>
+      <member refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" virt="virtual" ambiguityscope="diffbifn::"><scope>IMpmsmStat</scope><name>eval</name></member>
+      <member refid="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" virt="non-virtual"><scope>IMpmsmStat</scope><name>fnc</name></member>
+      <member refid="classIMpmsm_1d12ba5bbd6154e2e920c21adab0cb8df" prot="public" virt="non-virtual"><scope>IMpmsmStat</scope><name>IMpmsm</name></member>
+      <member refid="classIMpmsmStat_1cd1f00dad79ce2760b009a3130654b36" prot="private" virt="non-virtual"><scope>IMpmsmStat</scope><name>IMpmsmStat</name></member>
+      <member refid="classIMpmsm_183e4149bb70b022f3a19208f14eac0e3" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>J</name></member>
+      <member refid="classIMpmsm_103f1857fb1910c7b06dac4ce50482516" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>kp</name></member>
+      <member refid="classIMpmsm_1829e309d689b7e148d761d36b1b62fb7" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>Ls</name></member>
+      <member refid="classIMpmsm_10aa4f9ee2b9babdc05f62ba275a9575f" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>Mz</name></member>
+      <member refid="classIMpmsm_10eddf56a8feb6b837ee3c36c0ac6b781" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>p</name></member>
+      <member refid="classIMpmsm_15908138b6c11f32971542423978a25d3" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>Rs</name></member>
+      <member refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>rvu</name></member>
+      <member refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>rvx</name></member>
+      <member refid="classIMpmsmStat_16379210623a2d353d42bfc87ccbd4384" prot="private" virt="non-virtual"><scope>IMpmsmStat</scope><name>set_parameters</name></member>
+      <member refid="classIMpmsm_1a1b973c18d381e7ec717165aa306b613" prot="protected" virt="non-virtual"><scope>IMpmsmStat</scope><name>Ypm</name></member>
+      <member refid="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" virt="virtual"><scope>IMpmsmStat</scope><name>~fnc</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEKF__unQful.xml
===================================================================
--- /doc/xml/classEKF__unQful.xml (revision 187)
+++ /doc/xml/classEKF__unQful.xml (revision 187)
@@ -0,0 +1,747 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEKF__unQful" kind="class" prot="public">
+    <compoundname>EKF_unQful</compoundname>
+    <basecompoundref refid="classEKFfull" prot="public" virt="non-virtual">EKFfull</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEKF__unQful_1ed45b0b0cd49b28e474d0cd9c9c2b10a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EKF_unQful::EKF_unQful</definition>
+        <argsstring>(RV rx, RV ry, RV ru, RV rQ)</argsstring>
+        <name>EKF_unQful</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ry</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>ru</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rQ</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="51" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="51" bodyend="51"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQful_1df6c83cd06b27565ddd89429d5b2527b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKF_unQful::condition</definition>
+        <argsstring>(const vec &amp;Q0)</argsstring>
+        <name>condition</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="52" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="52" bodyend="54"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKF__unQful_1e8c5fab97b3424996ea1f683e5b2b943" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKF_unQful::bayes</definition>
+        <argsstring>(const vec dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>const vec</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="55" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="55" bodyend="66"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::set_parameters</definition>
+        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const mat Q0, const mat R0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>pfxu</declname>
+        </param>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>phxu</declname>
+        </param>
+        <param>
+          <type>const mat</type>
+          <declname>Q0</declname>
+        </param>
+        <param>
+          <type>const mat</type>
+          <declname>R0</declname>
+        </param>
+        <briefdescription>
+<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="182" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="66" bodyend="84"/>
+        <references refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</references>
+        <references refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classKalmanFull_113a041cd98ff157703766be275a657bb">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="86" bodyend="114"/>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
+        <references refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" compoundref="libEF_8h" startline="103" endline="103">enorm&lt; sq_T &gt;::set_mu</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::set_est</definition>
+        <argsstring>(vec mu0, mat P0)</argsstring>
+        <name>set_est</name>
+        <param>
+          <type>vec</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>set estimates </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="186" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="186" bodyend="186"/>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; EKFfull::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>dummy! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="188" bodyend="188"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BMcond::_rvc</definition>
+        <argsstring>() const </argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Pp</definition>
+        <argsstring></argsstring>
+        <name>_Pp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_iRy</definition>
+        <argsstring></argsstring>
+        <name>_iRy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BMcond::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>Identificator of the conditioning variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
+        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">BMcond::_rvc</referencedby>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec KalmanFull::mu</definition>
+        <argsstring></argsstring>
+        <name>mu</name>
+        <briefdescription>
+<para>Mean value of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="37" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::P</definition>
+        <argsstring></argsstring>
+        <name>P</name>
+        <briefdescription>
+<para>Variance of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="39" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool KalmanFull::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="41" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double KalmanFull::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="friend">
+      <memberdef kind="friend" id="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>friend std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const KalmanFull &amp;kf)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classKalmanFull" kindref="compound">KalmanFull</ref> &amp;</type>
+          <declname>kf</declname>
+        </param>
+        <briefdescription>
+<para>print elements of KF </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="49" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="56" bodyend="59"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="905">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="902">
+        <label>EKF_unQful</label>
+        <childnode refid="903" relation="public-inheritance">
+        </childnode>
+        <childnode refid="906" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="903">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="904" relation="public-inheritance">
+        </childnode>
+        <childnode refid="905" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="906">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+      </node>
+      <node id="904">
+        <label>KalmanFull</label>
+        <link refid="classKalmanFull"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="919">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="915" relation="public-inheritance">
+        </childnode>
+        <childnode refid="920" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="920">
+        <label>sq_T</label>
+      </node>
+      <node id="916">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="911" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="910">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="911" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="917">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="918" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="907">
+        <label>EKF_unQful</label>
+        <childnode refid="908" relation="public-inheritance">
+        </childnode>
+        <childnode refid="921" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="914">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="915" relation="public-inheritance">
+        </childnode>
+        <childnode refid="917" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="919" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="911">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="918">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="912">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="913" relation="public-inheritance">
+        </childnode>
+        <childnode refid="911" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="913">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="915">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="916" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="908">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="909" relation="public-inheritance">
+        </childnode>
+        <childnode refid="910" relation="public-inheritance">
+        </childnode>
+        <childnode refid="912" relation="usage">
+          <edgelabel>pfxu
+phxu</edgelabel>
+        </childnode>
+        <childnode refid="914" relation="usage">
+          <edgelabel>E</edgelabel>
+        </childnode>
+      </node>
+      <node id="921">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+        <childnode refid="911" relation="usage">
+          <edgelabel>rvc</edgelabel>
+        </childnode>
+      </node>
+      <node id="909">
+        <label>KalmanFull</label>
+        <link refid="classKalmanFull"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim2.cpp" bodystart="48" bodyend="67"/>
+    <listofallmembers>
+      <member refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" virt="virtual"><scope>EKF_unQful</scope><name>_epdf</name></member>
+      <member refid="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>_iRy</name></member>
+      <member refid="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>_ll</name></member>
+      <member refid="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>_Pp</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>_rv</name></member>
+      <member refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>_rvc</name></member>
+      <member refid="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>_Ry</name></member>
+      <member refid="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>A</name></member>
+      <member refid="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>B</name></member>
+      <member refid="classEKF__unQful_1e8c5fab97b3424996ea1f683e5b2b943" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>bayes</name></member>
+      <member refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" virt="non-virtual" ambiguityscope="EKFfull::"><scope>EKF_unQful</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>EKF_unQful</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>BM</name></member>
+      <member refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>BMcond</name></member>
+      <member refid="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>C</name></member>
+      <member refid="classEKF__unQful_1df6c83cd06b27565ddd89429d5b2527b" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>condition</name></member>
+      <member refid="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>D</name></member>
+      <member refid="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>dimu</name></member>
+      <member refid="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>dimx</name></member>
+      <member refid="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>dimy</name></member>
+      <member refid="classEKF__unQful_1ed45b0b0cd49b28e474d0cd9c9c2b10a" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>EKF_unQful</name></member>
+      <member refid="classEKFfull_167ac4de96fd025197da767fe0472c7f7" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>EKFfull</name></member>
+      <member refid="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" virt="non-virtual" ambiguityscope="KalmanFull::"><scope>EKF_unQful</scope><name>evalll</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKF_unQful</scope><name>evalll</name></member>
+      <member refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" virt="non-virtual" ambiguityscope="KalmanFull::"><scope>EKF_unQful</scope><name>ll</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKF_unQful</scope><name>ll</name></member>
+      <member refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>mu</name></member>
+      <member refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>operator&lt;&lt;</name></member>
+      <member refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>P</name></member>
+      <member refid="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>Q</name></member>
+      <member refid="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>rv</name></member>
+      <member refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" virt="non-virtual"><scope>EKF_unQful</scope><name>rvc</name></member>
+      <member refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>set_est</name></member>
+      <member refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" virt="non-virtual"><scope>EKF_unQful</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKF_unQful</scope><name>~BM</name></member>
+      <member refid="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" virt="virtual"><scope>EKF_unQful</scope><name>~BMcond</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/CMakeCCompilerId_8c.xml
===================================================================
--- /doc/xml/CMakeCCompilerId_8c.xml (revision 187)
+++ /doc/xml/CMakeCCompilerId_8c.xml (revision 187)
@@ -0,0 +1,249 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="CMakeCCompilerId_8c" kind="file">
+    <compoundname>CMakeCCompilerId.c</compoundname>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="CMakeCCompilerId_8c_181dee0709ded976b2e0319239f72d174" prot="public" static="no">
+        <name>COMPILER_ID</name>
+        <initializer>&quot;&quot;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" line="74" bodyfile="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" bodystart="74" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="CMakeCCompilerId_8c_1dbc5372f40838899018fadbc89bd588b" prot="public" static="no">
+        <name>PLATFORM_ID</name>
+        <initializer>&quot;&quot;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" line="158" bodyfile="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" bodystart="158" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="CMakeCCompilerId_8c_1ab4f0400f2b990cc0cfaa596066ed23a" prot="public" static="no" mutable="no">
+        <type>char *</type>
+        <definition>char* info_compiler</definition>
+        <argsstring></argsstring>
+        <name>info_compiler</name>
+        <initializer> &quot;INFO&quot; &quot;:&quot; &quot;compiler[&quot; COMPILER_ID &quot;]&quot;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" line="82" bodyfile="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" bodystart="82" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="CMakeCCompilerId_8c_1bfa30dab5bd89c85774e2aaaca5262d1" prot="public" static="no" mutable="no">
+        <type>char *</type>
+        <definition>char* info_platform</definition>
+        <argsstring></argsstring>
+        <name>info_platform</name>
+        <initializer> &quot;INFO&quot; &quot;:&quot; &quot;platform[&quot; PLATFORM_ID &quot;]&quot;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" line="166" bodyfile="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" bodystart="166" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="CMakeCCompilerId_8c_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" line="12" bodyfile="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c" bodystart="12" bodyend="12"/>
+      </memberdef>
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+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#ifdef<sp/>__cplusplus</highlight></codeline>
+<codeline lineno="2"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>error<sp/>&quot;A<sp/>C++<sp/>compiler<sp/>has<sp/>been<sp/>selected<sp/>for<sp/>C.&quot;</highlight></codeline>
+<codeline lineno="3"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="4"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Provide<sp/>main()<sp/>so<sp/>the<sp/>program<sp/>can<sp/>link.<sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="preprocessor">#if<sp/>defined(__18CXX)</highlight></codeline>
+<codeline lineno="7"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>ID_VOID_MAIN</highlight></codeline>
+<codeline lineno="8"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="9"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#ifdef<sp/>ID_VOID_MAIN</highlight></codeline>
+<codeline lineno="10"><highlight class="preprocessor"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{}</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="preprocessor">#else</highlight></codeline>
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+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#if<sp/>defined(__INTEL_COMPILER)<sp/>||<sp/>defined(__ICC)</highlight></codeline>
+<codeline lineno="16"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;Intel&quot;</highlight></codeline>
+<codeline lineno="17"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__BORLANDC__)</highlight></codeline>
+<codeline lineno="19"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;Borland&quot;</highlight></codeline>
+<codeline lineno="20"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__WATCOMC__)</highlight></codeline>
+<codeline lineno="22"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;Watcom&quot;</highlight></codeline>
+<codeline lineno="23"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__SUNPRO_C)</highlight></codeline>
+<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;SunPro&quot;</highlight></codeline>
+<codeline lineno="26"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__HP_cc)</highlight></codeline>
+<codeline lineno="28"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;HP&quot;</highlight></codeline>
+<codeline lineno="29"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__DECC)</highlight></codeline>
+<codeline lineno="31"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;Compaq&quot;</highlight></codeline>
+<codeline lineno="32"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__IBMC__)</highlight></codeline>
+<codeline lineno="34"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;VisualAge&quot;</highlight></codeline>
+<codeline lineno="35"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__PGI)</highlight></codeline>
+<codeline lineno="37"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;PGI&quot;</highlight></codeline>
+<codeline lineno="38"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__GNUC__)</highlight></codeline>
+<codeline lineno="40"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;GNU&quot;</highlight></codeline>
+<codeline lineno="41"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_MSC_VER)</highlight></codeline>
+<codeline lineno="43"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;MSVC&quot;</highlight></codeline>
+<codeline lineno="44"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__ADSPBLACKFIN__)<sp/>||<sp/>defined(__ADSPTS__)<sp/>||<sp/>defined(__ADSP21000__)</highlight></codeline>
+<codeline lineno="46"><highlight class="preprocessor"></highlight><highlight class="comment">/*<sp/>Analog<sp/>Devices<sp/>C++<sp/>compiler<sp/>for<sp/>Blackfin,<sp/>TigerSHARC<sp/>and</highlight></codeline>
+<codeline lineno="47"><highlight class="comment"><sp/><sp/><sp/>SHARC<sp/>(21000)<sp/>DSPs<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;ADSP&quot;</highlight></codeline>
+<codeline lineno="49"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>IAR<sp/>Systems<sp/>compiler<sp/>for<sp/>embedded<sp/>systems.</highlight></codeline>
+<codeline lineno="51"><highlight class="comment"><sp/><sp/><sp/>http://www.iar.com</highlight></codeline>
+<codeline lineno="52"><highlight class="comment"><sp/><sp/><sp/>Not<sp/>supported<sp/>yet<sp/>by<sp/>CMake</highlight></codeline>
+<codeline lineno="53"><highlight class="comment">#elif<sp/>defined(__IAR_SYSTEMS_ICC__)</highlight></codeline>
+<codeline lineno="54"><highlight class="comment">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;IAR&quot;<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>sdcc,<sp/>the<sp/>small<sp/>devices<sp/>C<sp/>compiler<sp/>for<sp/>embedded<sp/>systems,</highlight></codeline>
+<codeline lineno="57"><highlight class="comment"><sp/><sp/><sp/>http://sdcc.sourceforge.net<sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(SDCC)</highlight></codeline>
+<codeline lineno="59"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;SDCC&quot;</highlight></codeline>
+<codeline lineno="60"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_COMPILER_VERSION)</highlight></codeline>
+<codeline lineno="62"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;MIPSpro&quot;</highlight></codeline>
+<codeline lineno="63"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>This<sp/>compiler<sp/>is<sp/>either<sp/>not<sp/>known<sp/>or<sp/>is<sp/>too<sp/>old<sp/>to<sp/>define<sp/>an</highlight></codeline>
+<codeline lineno="65"><highlight class="comment"><sp/><sp/><sp/>identification<sp/>macro.<sp/><sp/>Try<sp/>to<sp/>identify<sp/>the<sp/>platform<sp/>and<sp/>guess<sp/>that</highlight></codeline>
+<codeline lineno="66"><highlight class="comment"><sp/><sp/><sp/>it<sp/>is<sp/>the<sp/>native<sp/>compiler.<sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__sgi)</highlight></codeline>
+<codeline lineno="68"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;MIPSpro&quot;</highlight></codeline>
+<codeline lineno="69"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__hpux)<sp/>||<sp/>defined(__hpua)</highlight></codeline>
+<codeline lineno="71"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;HP&quot;</highlight></codeline>
+<codeline lineno="72"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight><highlight class="preprocessor">#else<sp/></highlight><highlight class="comment">/*<sp/>unknown<sp/>compiler<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight><highlight class="preprocessor">#<sp/>define<sp/>COMPILER_ID<sp/>&quot;&quot;</highlight></codeline>
+<codeline lineno="75"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="77"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Construct<sp/>the<sp/>string<sp/>literal<sp/>in<sp/>pieces<sp/>to<sp/>prevent<sp/>the<sp/>source<sp/>from</highlight></codeline>
+<codeline lineno="79"><highlight class="comment"><sp/><sp/><sp/>getting<sp/>matched.<sp/><sp/>Store<sp/>it<sp/>in<sp/>a<sp/>pointer<sp/>rather<sp/>than<sp/>an<sp/>array</highlight></codeline>
+<codeline lineno="80"><highlight class="comment"><sp/><sp/><sp/>because<sp/>some<sp/>compilers<sp/>will<sp/>just<sp/>produce<sp/>instructions<sp/>to<sp/>fill<sp/>the</highlight></codeline>
+<codeline lineno="81"><highlight class="comment"><sp/><sp/><sp/>array<sp/>rather<sp/>than<sp/>assigning<sp/>a<sp/>pointer<sp/>to<sp/>a<sp/>static<sp/>array.<sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>info_compiler<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;INFO&quot;</highlight><highlight class="normal"><sp/></highlight><highlight class="stringliteral">&quot;:&quot;</highlight><highlight class="normal"><sp/></highlight><highlight class="stringliteral">&quot;compiler[&quot;</highlight><highlight class="normal"><sp/>COMPILER_ID<sp/></highlight><highlight class="stringliteral">&quot;]&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Identify<sp/>known<sp/>platforms<sp/>by<sp/>name.<sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight><highlight class="preprocessor">#if<sp/>defined(__linux)<sp/>||<sp/>defined(__linux__)<sp/>||<sp/>defined(linux)</highlight></codeline>
+<codeline lineno="86"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;Linux&quot;</highlight></codeline>
+<codeline lineno="87"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__CYGWIN__)</highlight></codeline>
+<codeline lineno="89"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;Cygwin&quot;</highlight></codeline>
+<codeline lineno="90"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__MINGW32__)</highlight></codeline>
+<codeline lineno="92"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;MinGW&quot;</highlight></codeline>
+<codeline lineno="93"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__APPLE__)</highlight></codeline>
+<codeline lineno="95"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;Darwin&quot;</highlight></codeline>
+<codeline lineno="96"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_WIN32)<sp/>||<sp/>defined(__WIN32__)<sp/>||<sp/>defined(WIN32)</highlight></codeline>
+<codeline lineno="98"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;Windows&quot;</highlight></codeline>
+<codeline lineno="99"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__FreeBSD__)<sp/>||<sp/>defined(__FreeBSD)</highlight></codeline>
+<codeline lineno="101"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;FreeBSD&quot;</highlight></codeline>
+<codeline lineno="102"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__NetBSD__)<sp/>||<sp/>defined(__NetBSD)</highlight></codeline>
+<codeline lineno="104"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;NetBSD&quot;</highlight></codeline>
+<codeline lineno="105"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__OpenBSD__)<sp/>||<sp/>defined(__OPENBSD)</highlight></codeline>
+<codeline lineno="107"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;OpenBSD&quot;</highlight></codeline>
+<codeline lineno="108"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__sun)<sp/>||<sp/>defined(sun)</highlight></codeline>
+<codeline lineno="110"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;SunOS&quot;</highlight></codeline>
+<codeline lineno="111"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_AIX)<sp/>||<sp/>defined(__AIX)<sp/>||<sp/>defined(__AIX__)<sp/>||<sp/>defined(__aix)<sp/>||<sp/>defined(__aix__)</highlight></codeline>
+<codeline lineno="113"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;AIX&quot;</highlight></codeline>
+<codeline lineno="114"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__sgi)<sp/>||<sp/>defined(__sgi__)<sp/>||<sp/>defined(_SGI)</highlight></codeline>
+<codeline lineno="116"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;IRIX&quot;</highlight></codeline>
+<codeline lineno="117"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__hpux)<sp/>||<sp/>defined(__hpux__)</highlight></codeline>
+<codeline lineno="119"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;HP-UX&quot;</highlight></codeline>
+<codeline lineno="120"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__BeOS)<sp/>||<sp/>defined(__BEOS__)<sp/>||<sp/>defined(_BEOS)</highlight></codeline>
+<codeline lineno="122"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;BeOS&quot;</highlight></codeline>
+<codeline lineno="123"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__QNX__)<sp/>||<sp/>defined(__QNXNTO__)</highlight></codeline>
+<codeline lineno="125"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;QNX&quot;</highlight></codeline>
+<codeline lineno="126"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__tru64)<sp/>||<sp/>defined(_tru64)<sp/>||<sp/>defined(__TRU64__)</highlight></codeline>
+<codeline lineno="128"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;Tru64&quot;</highlight></codeline>
+<codeline lineno="129"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__riscos)<sp/>||<sp/>defined(__riscos__)</highlight></codeline>
+<codeline lineno="131"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;RISCos&quot;</highlight></codeline>
+<codeline lineno="132"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__sinix)<sp/>||<sp/>defined(__sinix__)<sp/>||<sp/>defined(__SINIX__)</highlight></codeline>
+<codeline lineno="134"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;SINIX&quot;</highlight></codeline>
+<codeline lineno="135"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__UNIX_SV__)</highlight></codeline>
+<codeline lineno="137"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;UNIX_SV&quot;</highlight></codeline>
+<codeline lineno="138"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__bsdos__)</highlight></codeline>
+<codeline lineno="140"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;BSDOS&quot;</highlight></codeline>
+<codeline lineno="141"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_MPRAS)<sp/>||<sp/>defined(MPRAS)</highlight></codeline>
+<codeline lineno="143"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;MP-RAS&quot;</highlight></codeline>
+<codeline lineno="144"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__osf)<sp/>||<sp/>defined(__osf__)</highlight></codeline>
+<codeline lineno="146"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;OSF1&quot;</highlight></codeline>
+<codeline lineno="147"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_SCO_SV)<sp/>||<sp/>defined(SCO_SV)<sp/>||<sp/>defined(sco_sv)</highlight></codeline>
+<codeline lineno="149"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;SCO_SV&quot;</highlight></codeline>
+<codeline lineno="150"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__ultrix)<sp/>||<sp/>defined(__ultrix__)<sp/>||<sp/>defined(_ULTRIX)</highlight></codeline>
+<codeline lineno="152"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;ULTRIX&quot;</highlight></codeline>
+<codeline lineno="153"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__XENIX__)<sp/>||<sp/>defined(_XENIX)<sp/>||<sp/>defined(XENIX)</highlight></codeline>
+<codeline lineno="155"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;Xenix&quot;</highlight></codeline>
+<codeline lineno="156"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight><highlight class="preprocessor">#else<sp/></highlight><highlight class="comment">/*<sp/>unknown<sp/>platform<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
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+<codeline lineno="159"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="161"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
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+<codeline lineno="166"><highlight class="normal"></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>info_platform<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;INFO&quot;</highlight><highlight class="normal"><sp/></highlight><highlight class="stringliteral">&quot;:&quot;</highlight><highlight class="normal"><sp/></highlight><highlight class="stringliteral">&quot;platform[&quot;</highlight><highlight class="normal"><sp/>PLATFORM_ID<sp/></highlight><highlight class="stringliteral">&quot;]&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/CMakeCCompilerId.c"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classCompoundUserInfo.xml
===================================================================
--- /doc/xml/classCompoundUserInfo.xml (revision 187)
+++ /doc/xml/classCompoundUserInfo.xml (revision 187)
@@ -0,0 +1,382 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classCompoundUserInfo" kind="class" prot="public">
+    <compoundname>CompoundUserInfo</compoundname>
+    <basecompoundref refid="classTypedUserInfo" prot="public" virt="non-virtual">TypedUserInfo&lt; T &gt;</basecompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+    <innerclass refid="classCompoundUserInfo_1_1BindedElement" prot="protected">CompoundUserInfo::BindedElement</innerclass>
+    <templateparamlist>
+      <param>
+        <type>typename</type>
+        <declname>T</declname>
+        <defname>T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classCompoundUserInfo_1ea2c8231586e2e69711f2187589f63bf" prot="private" static="no" mutable="no">
+        <type>vector&lt; <ref refid="classBindingFrame" kindref="compound">BindingFrame</ref> * &gt;</type>
+        <definition>vector&lt;BindingFrame*&gt; CompoundUserInfo&lt; T &gt;::bindedElements</definition>
+        <argsstring></argsstring>
+        <name>bindedElements</name>
+        <briefdescription>
+<para>Elements binding inner XML tags to related userinfos. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="424" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="424" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void CompoundUserInfo&lt; T &gt;::AssemblyComponentsFromXML</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>AssemblyComponentsFromXML</name>
+        <reimplements refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d">AssemblyComponentsFromXML</reimplements>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method parse DOMElement, finds proper DOMNode and fills binded data accordingly. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="488" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="487" bodyend="491"/>
+      </memberdef>
+      <memberdef kind="function" id="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void CompoundUserInfo&lt; T &gt;::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplements refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a">ReleaseMemory</reimplements>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="494" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="493" bodyend="497"/>
+      </memberdef>
+      <memberdef kind="function" id="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>bool</type>
+        <definition>bool CompoundUserInfo&lt; T &gt;::DisassemblyComponentsToXML</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>DisassemblyComponentsToXML</name>
+        <reimplements refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca">DisassemblyComponentsToXML</reimplements>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This method reads binded data, fill them into a new DOMNode, which then appends to the passed DOMElement </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="500" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="499" bodyend="505"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classCompoundUserInfo_1e2265e447e2f48550c5d8d479119bbb3" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>CompoundUserInfo&lt; T &gt;::CompoundUserInfo</definition>
+        <argsstring>(string userFriendlyTypeName)</argsstring>
+        <name>CompoundUserInfo</name>
+        <param>
+          <type>string</type>
+          <declname>userFriendlyTypeName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="511"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; T &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt;T&gt;&amp; TypedUserInfo&lt; T &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>The main userinfo template class. You should derive this class whenever you need a new userinfo of a class which is compound from smaller elements (all having its own userinfo class prepared). </para>    </briefdescription>
+    <detaileddescription>
+<para>To bind some inner element to its own userinfo class, and also to automate its assembling and disassembling, it is necessary to create a instance of an inner templated class BindedElement&lt;T&gt;. Those attributes have to be initialized in constructor of a new compound userinfo this way:</para><para><programlisting><codeline><highlight class="keyword">class<sp/></highlight><highlight class="normal">BikeUI:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo</ref>&lt;Bike&gt;</highlight></codeline>
+<codeline><highlight class="normal">{</highlight></codeline>
+<codeline><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;int&gt;<sp/>year;<sp/></highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;bool&gt;<sp/>lights;<sp/></highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BindedElement&lt;string&gt;<sp/>manufacturer;<sp/></highlight></codeline>
+<codeline><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BikeUI()</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<ref refid="classCompoundUserInfo" kindref="compound" tooltip="The main userinfo template class. You should derive this class whenever you need...">CompoundUserInfo</ref>&lt;Bike&gt;(</highlight><highlight class="stringliteral">&quot;bike&quot;</highlight><highlight class="normal">),</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>year(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;year&quot;</highlight><highlight class="normal">,<sp/>0<sp/>),</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lights(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;electric<sp/>lights&quot;</highlight><highlight class="normal">,<sp/>false<sp/>),<sp/></highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>manufacturer(<sp/>this,<sp/></highlight><highlight class="stringliteral">&quot;manufacturer&quot;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&quot;unknown&quot;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline><highlight class="normal"></highlight></codeline>
+<codeline><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>...</highlight></codeline>
+<codeline><highlight class="normal">}</highlight></codeline>
+</programlisting> </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="774">
+        <label>BikeUI</label>
+        <childnode refid="773" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="768">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="769" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="773">
+        <label>CompoundUserInfo&lt; Bike &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="767" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="771">
+        <label>CompoundUserInfo&lt; Car &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="767" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="767">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="768" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="769">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="770" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="772">
+        <label>CarUI</label>
+        <childnode refid="771" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="770">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="779">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="776">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="777" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="780">
+        <label>string</label>
+      </node>
+      <node id="775">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="776" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="777">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="778" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="780" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="778">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="779" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="421" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="420" bodyend="514"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>CompoundUserInfo</scope><name>Assembly</name></member>
+      <member refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be" prot="private" virt="virtual"><scope>CompoundUserInfo</scope><name>AssemblyComponentsFromXML</name></member>
+      <member refid="classCompoundUserInfo_1ea2c8231586e2e69711f2187589f63bf" prot="private" virt="non-virtual"><scope>CompoundUserInfo</scope><name>bindedElements</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>BindingFrame</name></member>
+      <member refid="classCompoundUserInfo_1e2265e447e2f48550c5d8d479119bbb3" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>CompoundUserInfo</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>CompoundUserInfo</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>CompoundUserInfo</scope><name>Disassembly</name></member>
+      <member refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb" prot="private" virt="virtual"><scope>CompoundUserInfo</scope><name>DisassemblyComponentsToXML</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>instance</name></member>
+      <member refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273" prot="private" virt="virtual"><scope>CompoundUserInfo</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>UserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>XMLCh2str</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>CompoundUserInfo</scope><name>~TypedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classhello__pskel.xml
===================================================================
--- /doc/xml/classhello__pskel.xml (revision 187)
+++ /doc/xml/classhello__pskel.xml (revision 187)
@@ -0,0 +1,226 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classhello__pskel" kind="class" prot="public">
+    <compoundname>hello_pskel</compoundname>
+    <derivedcompoundref refid="structhello__pimpl" prot="public" virt="non-virtual">hello_pimpl</derivedcompoundref>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classhello__pskel_184007f796e4b132c4b2443a0ca182c26" prot="protected" static="no" mutable="no">
+        <type>::xml_schema::string_pskel *</type>
+        <definition>::xml_schema::string_pskel* hello_pskel::greeting_</definition>
+        <argsstring></argsstring>
+        <name>greeting_</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="310" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="310" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classhello__pskel_14e88cefd27ba8b5cd900d668cf43b03f" prot="protected" static="no" mutable="no">
+        <type>::xml_schema::string_pskel *</type>
+        <definition>::xml_schema::string_pskel* hello_pskel::name_</definition>
+        <argsstring></argsstring>
+        <name>name_</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="311" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="311" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classhello__pskel_1edd0c03ee1daac2171f20574c0ec85f5" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void hello_pskel::greeting</definition>
+        <argsstring>(const ::std::string &amp;)</argsstring>
+        <name>greeting</name>
+        <param>
+          <type>const ::std::string &amp;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="273" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="75" bodyend="77"/>
+      </memberdef>
+      <memberdef kind="function" id="classhello__pskel_184b9b7d3cef6d3d22d0aa701771bf297" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void hello_pskel::name</definition>
+        <argsstring>(const ::std::string &amp;)</argsstring>
+        <name>name</name>
+        <param>
+          <type>const ::std::string &amp;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="276" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="80" bodyend="82"/>
+      </memberdef>
+      <memberdef kind="function" id="classhello__pskel_152616e774aa18bb4d2612210a418a8e2" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void hello_pskel::post_hello</definition>
+        <argsstring>()</argsstring>
+        <name>post_hello</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="279" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="85" bodyend="87"/>
+      </memberdef>
+      <memberdef kind="function" id="classhello__pskel_11ce588f8ca038688d4bae446b06060e4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void hello_pskel::greeting_parser</definition>
+        <argsstring>(::xml_schema::string_pskel &amp;)</argsstring>
+        <name>greeting_parser</name>
+        <param>
+          <type>::xml_schema::string_pskel &amp;</type>
+          <defname>p</defname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="284" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="45" bodyend="48"/>
+      </memberdef>
+      <memberdef kind="function" id="classhello__pskel_12d23c64071d476077644133e55bb2407" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void hello_pskel::name_parser</definition>
+        <argsstring>(::xml_schema::string_pskel &amp;)</argsstring>
+        <name>name_parser</name>
+        <param>
+          <type>::xml_schema::string_pskel &amp;</type>
+          <defname>p</defname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="287" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="51" bodyend="54"/>
+      </memberdef>
+      <memberdef kind="function" id="classhello__pskel_119a6b244b39b69a260523fce542212d0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void hello_pskel::parsers</definition>
+        <argsstring>(::xml_schema::string_pskel &amp;,::xml_schema::string_pskel &amp;)</argsstring>
+        <name>parsers</name>
+        <param>
+          <type>::xml_schema::string_pskel &amp;</type>
+          <defname>greeting</defname>
+        </param>
+        <param>
+          <type>::xml_schema::string_pskel &amp;</type>
+          <defname>name</defname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="291" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="57" bodyend="62"/>
+      </memberdef>
+      <memberdef kind="function" id="classhello__pskel_10f7a45f9f0f6a3440ef60a4435b84a8f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>hello_pskel::hello_pskel</definition>
+        <argsstring>()</argsstring>
+        <name>hello_pskel</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="295" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="65" bodyend="69"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classhello__pskel_16d6087802ed3769af41e8f9359649dbf" prot="protected" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>bool</type>
+        <definition>bool hello_pskel::_start_element_impl</definition>
+        <argsstring>(const ::xml_schema::ro_string &amp;, const ::xml_schema::ro_string &amp;, const ::xml_schema::ro_string *)</argsstring>
+        <name>_start_element_impl</name>
+        <param>
+          <type>const ::xml_schema::ro_string &amp;</type>
+          <defname>ns</defname>
+        </param>
+        <param>
+          <type>const ::xml_schema::ro_string &amp;</type>
+          <defname>n</defname>
+        </param>
+        <param>
+          <type>const ::xml_schema::ro_string *</type>
+          <defname>t</defname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="303" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="90" bodyend="120"/>
+      </memberdef>
+      <memberdef kind="function" id="classhello__pskel_1fd49d9f0be6e01cb041ba68e2a0a4d3c" prot="protected" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>bool</type>
+        <definition>bool hello_pskel::_end_element_impl</definition>
+        <argsstring>(const ::xml_schema::ro_string &amp;, const ::xml_schema::ro_string &amp;)</argsstring>
+        <name>_end_element_impl</name>
+        <param>
+          <type>const ::xml_schema::ro_string &amp;</type>
+          <defname>ns</defname>
+        </param>
+        <param>
+          <type>const ::xml_schema::ro_string &amp;</type>
+          <defname>n</defname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="307" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.cxx" bodystart="123" bodyend="146"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="894">
+        <label>hello_pskel</label>
+      </node>
+      <node id="895">
+        <label>hello_pimpl</label>
+        <childnode refid="894" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx" line="265" bodyfile="/home/smidl/work/mixpp/tests/hello-pskel.hxx" bodystart="264" bodyend="312"/>
+    <listofallmembers>
+      <member refid="classhello__pskel_1fd49d9f0be6e01cb041ba68e2a0a4d3c" prot="protected" virt="virtual"><scope>hello_pskel</scope><name>_end_element_impl</name></member>
+      <member refid="classhello__pskel_16d6087802ed3769af41e8f9359649dbf" prot="protected" virt="virtual"><scope>hello_pskel</scope><name>_start_element_impl</name></member>
+      <member refid="classhello__pskel_1edd0c03ee1daac2171f20574c0ec85f5" prot="public" virt="virtual"><scope>hello_pskel</scope><name>greeting</name></member>
+      <member refid="classhello__pskel_184007f796e4b132c4b2443a0ca182c26" prot="protected" virt="non-virtual"><scope>hello_pskel</scope><name>greeting_</name></member>
+      <member refid="classhello__pskel_11ce588f8ca038688d4bae446b06060e4" prot="public" virt="non-virtual"><scope>hello_pskel</scope><name>greeting_parser</name></member>
+      <member refid="classhello__pskel_10f7a45f9f0f6a3440ef60a4435b84a8f" prot="public" virt="non-virtual"><scope>hello_pskel</scope><name>hello_pskel</name></member>
+      <member refid="classhello__pskel_184b9b7d3cef6d3d22d0aa701771bf297" prot="public" virt="virtual"><scope>hello_pskel</scope><name>name</name></member>
+      <member refid="classhello__pskel_14e88cefd27ba8b5cd900d668cf43b03f" prot="protected" virt="non-virtual"><scope>hello_pskel</scope><name>name_</name></member>
+      <member refid="classhello__pskel_12d23c64071d476077644133e55bb2407" prot="public" virt="non-virtual"><scope>hello_pskel</scope><name>name_parser</name></member>
+      <member refid="classhello__pskel_119a6b244b39b69a260523fce542212d0" prot="public" virt="non-virtual"><scope>hello_pskel</scope><name>parsers</name></member>
+      <member refid="classhello__pskel_152616e774aa18bb4d2612210a418a8e2" prot="public" virt="virtual"><scope>hello_pskel</scope><name>post_hello</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_ebe35f452991fa679a1796aefc299109.xml
===================================================================
--- /doc/xml/dir_ebe35f452991fa679a1796aefc299109.xml (revision 187)
+++ /doc/xml/dir_ebe35f452991fa679a1796aefc299109.xml (revision 187)
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_ebe35f452991fa679a1796aefc299109" kind="dir">
+    <compoundname>work/git/mixpp/bdm/math/</compoundname>
+    <innerfile refid="chmat_8cpp">chmat.cpp</innerfile>
+    <innerfile refid="chmat_8h">chmat.h</innerfile>
+    <innerfile refid="libDC_8cpp">libDC.cpp</innerfile>
+    <innerfile refid="libDC_8h">libDC.h</innerfile>
+    <innerfile refid="R__rgamma_8c">R_rgamma.c</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_d5bf21eca1580660a94997ef7922cb8a.xml
===================================================================
--- /doc/xml/dir_d5bf21eca1580660a94997ef7922cb8a.xml (revision 187)
+++ /doc/xml/dir_d5bf21eca1580660a94997ef7922cb8a.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_d5bf21eca1580660a94997ef7922cb8a" kind="dir">
+    <compoundname>work/git/mixpp/CMakeFiles/CompilerIdC/</compoundname>
+    <innerfile refid="CMakeCCompilerId_8c">CMakeCCompilerId.c</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdC/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classemix.xml
===================================================================
--- /doc/xml/classemix.xml (revision 187)
+++ /doc/xml/classemix.xml (revision 187)
@@ -0,0 +1,293 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classemix" kind="class" prot="public">
+    <compoundname>emix</compoundname>
+    <basecompoundref refid="classepdf" prot="public" virt="non-virtual">epdf</basecompoundref>
+    <includes refid="emix_8h" local="no">emix.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec emix::w</definition>
+        <argsstring></argsstring>
+        <name>w</name>
+        <briefdescription>
+<para>weights of the components </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="35" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="35" bodyend="-1"/>
+        <referencedby refid="classemix_135baf0f62307455cebfbf462144b4dd8" compoundref="emix_8h" startline="59" endline="59">_w</referencedby>
+        <referencedby refid="classemix_1469e910479b3402589104ef3bb1b5741" compoundref="emix_8h" startline="50" endline="55">evalpdflog</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">mean</referencedby>
+        <referencedby refid="classemix_10650601f24e633e0ab09aa1e46c14483" compoundref="emix_8cpp" startline="14" endline="23">sample</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classemix_17155d827417b53fb6aa5cff1459e6eb4" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classepdf" kindref="compound">epdf</ref> * &gt;</type>
+        <definition>Array&lt;epdf*&gt; emix::Coms</definition>
+        <argsstring></argsstring>
+        <name>Coms</name>
+        <briefdescription>
+<para>Component (epdfs). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="37" bodyend="-1"/>
+        <referencedby refid="classemix_1469e910479b3402589104ef3bb1b5741" compoundref="emix_8h" startline="50" endline="55">evalpdflog</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">mean</referencedby>
+        <referencedby refid="classemix_10650601f24e633e0ab09aa1e46c14483" compoundref="emix_8cpp" startline="14" endline="23">sample</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classemix_13a10c8481115a5460877272ddb6532a6" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>emix::emix</definition>
+        <argsstring>(RV &amp;rv)</argsstring>
+        <name>emix</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="40" bodyend="40"/>
+      </memberdef>
+      <memberdef kind="function" id="classemix_16ce82b24d7fe540ddbf44b472a005555" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void emix::set_parameters</definition>
+        <argsstring>(const vec &amp;w, const Array&lt; epdf * &gt; &amp;Coms)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>w</declname>
+        </param>
+        <param>
+          <type>const Array&lt; <ref refid="classepdf" kindref="compound">epdf</ref> * &gt; &amp;</type>
+          <declname>Coms</declname>
+        </param>
+        <briefdescription>
+<para>Set weights <computeroutput>w</computeroutput> and components <computeroutput>R</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.cpp" bodystart="5" bodyend="12"/>
+        <references refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</references>
+        <references refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" compoundref="emix_8h" startline="37">Coms</references>
+        <references refid="classRV_182cc7fa22ce91cf461a522ad62014c65" compoundref="libBM_8cpp" startline="109" endline="111">RV::equal</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <references refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" compoundref="emix_8h" startline="35">w</references>
+        <referencedby refid="classmmix_1e7681490a5c5b2d0a43f4e5842e10a9d" compoundref="emix_8h" startline="180" endline="187">mmix::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classemix_10650601f24e633e0ab09aa1e46c14483" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>vec</type>
+        <definition>vec emix::sample</definition>
+        <argsstring>() const </argsstring>
+        <name>sample</name>
+        <reimplements refid="classepdf_18019654e494bf5e458f6fb947e11b262">sample</reimplements>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="44" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.cpp" bodystart="14" bodyend="23"/>
+        <references refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" compoundref="emix_8h" startline="37">Coms</references>
+        <references refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" compoundref="emix_8h" startline="35">w</references>
+      </memberdef>
+      <memberdef kind="function" id="classemix_1b662a51d042b062020460e64bff4e9e8" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec emix::mean</definition>
+        <argsstring>() const </argsstring>
+        <name>mean</name>
+        <reimplements refid="classepdf_1bf0a070a8f3e67a93604ca724638b870">mean</reimplements>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="45" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="45" bodyend="49"/>
+        <references refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" compoundref="emix_8h" startline="37">Coms</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <references refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" compoundref="emix_8h" startline="35">w</references>
+      </memberdef>
+      <memberdef kind="function" id="classemix_1469e910479b3402589104ef3bb1b5741" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double emix::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <reimplements refid="classepdf_16aef3eca74899692503769c18add1a4c">evalpdflog</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute log-probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="50" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="50" bodyend="55"/>
+        <references refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" compoundref="emix_8h" startline="37">Coms</references>
+        <references refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" compoundref="emix_8h" startline="35">w</references>
+      </memberdef>
+      <memberdef kind="function" id="classemix_135baf0f62307455cebfbf462144b4dd8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec &amp;</type>
+        <definition>vec&amp; emix::_w</definition>
+        <argsstring>()</argsstring>
+        <name>_w</name>
+        <briefdescription>
+<para>returns a pointer to the internal mean value. Use with Care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="59" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="59" bodyend="59"/>
+        <references refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" compoundref="emix_8h" startline="35">w</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="153" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="153" bodyend="153"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Mixture of epdfs. </para>    </briefdescription>
+    <detaileddescription>
+<para>Density function: <formula id="63">\[ f(x) = \sum_{i=1}^{n} w_{i} f_i(x), \quad \sum_{i=1}^n w_i = 1. \]</formula> where <formula id="64">$f_i(x)$</formula> is any density on random variable <formula id="28">$x$</formula>, called <emphasis>component</emphasis>, </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="996">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="995">
+        <label>emix</label>
+        <link refid="classemix"/>
+        <childnode refid="996" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="998">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="999" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="999">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="997">
+        <label>emix</label>
+        <link refid="classemix"/>
+        <childnode refid="998" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="32" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="32" bodyend="60"/>
+    <listofallmembers>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>emix</scope><name>_rv</name></member>
+      <member refid="classemix_135baf0f62307455cebfbf462144b4dd8" prot="public" virt="non-virtual"><scope>emix</scope><name>_w</name></member>
+      <member refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" prot="protected" virt="non-virtual"><scope>emix</scope><name>Coms</name></member>
+      <member refid="classemix_13a10c8481115a5460877272ddb6532a6" prot="public" virt="non-virtual"><scope>emix</scope><name>emix</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>emix</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>emix</scope><name>epdf</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>emix</scope><name>eval</name></member>
+      <member refid="classemix_1469e910479b3402589104ef3bb1b5741" prot="public" virt="virtual"><scope>emix</scope><name>evalpdflog</name></member>
+      <member refid="classemix_1b662a51d042b062020460e64bff4e9e8" prot="public" virt="virtual"><scope>emix</scope><name>mean</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>emix</scope><name>rv</name></member>
+      <member refid="classemix_10650601f24e633e0ab09aa1e46c14483" prot="public" virt="virtual"><scope>emix</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>emix</scope><name>sampleN</name></member>
+      <member refid="classemix_16ce82b24d7fe540ddbf44b472a005555" prot="public" virt="non-virtual"><scope>emix</scope><name>set_parameters</name></member>
+      <member refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" prot="protected" virt="non-virtual"><scope>emix</scope><name>w</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>emix</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/test0_8cpp.xml
===================================================================
--- /doc/xml/test0_8cpp.xml (revision 187)
+++ /doc/xml/test0_8cpp.xml (revision 187)
@@ -0,0 +1,152 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="test0_8cpp" kind="file">
+    <compoundname>test0.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">../bdm/stat/libBM.h</includes>
+    <includes refid="libDC_8h" local="yes">../bdm/math/libDC.h</includes>
+    <includes refid="chmat_8h" local="yes">../bdm/math/chmat.h</includes>
+    <incdepgraph>
+      <node id="856">
+        <label>../bdm/stat/libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="855" relation="include">
+        </childnode>
+      </node>
+      <node id="859">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="855" relation="include">
+        </childnode>
+      </node>
+      <node id="854">
+        <label>work/git/mixpp/tests/test0.cpp</label>
+        <link refid="test0.cpp"/>
+        <childnode refid="855" relation="include">
+        </childnode>
+        <childnode refid="856" relation="include">
+        </childnode>
+        <childnode refid="857" relation="include">
+        </childnode>
+        <childnode refid="858" relation="include">
+        </childnode>
+      </node>
+      <node id="855">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="858">
+        <label>../bdm/math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="855" relation="include">
+        </childnode>
+        <childnode refid="857" relation="include">
+        </childnode>
+        <childnode refid="859" relation="include">
+        </childnode>
+      </node>
+      <node id="857">
+        <label>../bdm/math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="855" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="test0_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/test0.cpp" line="13" bodyfile="/home/smidl/work/git/mixpp/tests/test0.cpp" bodystart="12" bodyend="75"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../bdm/stat/libBM.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../bdm/math/libDC.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../bdm/math/chmat.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>th<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{a<sp/>b<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>r<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{r1<sp/>r2<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>th<sp/>&lt;&lt;<sp/>r<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>ld<sp/>=<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(</highlight><highlight class="stringliteral">&quot;1<sp/>0<sp/>0<sp/>0;<sp/>0.2<sp/>1<sp/>0<sp/>0;<sp/>0.1<sp/>-0.1<sp/>1<sp/>0;<sp/>-0.9<sp/>0.3<sp/>-0.1<sp/>1&quot;</highlight><highlight class="normal">,</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;3<sp/>4<sp/>5<sp/>6&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>v<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1<sp/>-1<sp/>3<sp/>-1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Test<sp/>to_mat&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ld<sp/>&lt;&lt;<sp/>endl;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>L<sp/>=<sp/>ld.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>();</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>L<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Test<sp/>opupdt&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;w=1&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>ldup<sp/>=<sp/>ld;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ldup.<ref refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" kindref="member">opupdt</ref>(v,1);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ldup.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>L<sp/>+<sp/>outer_product(v,v)<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ldup<sp/>=<sp/>ld;<sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;w=0.1&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ldup.<ref refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" kindref="member">opupdt</ref>(v,0.1);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ldup.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>L<sp/>+<sp/>0.1*outer_product(v,v)<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Test<sp/>+=&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>ld2x<sp/>=<sp/>ld;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ld2x+=ld;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ld.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl<sp/>&lt;&lt;<sp/>ld2x.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Test<sp/>*=&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ld2x<sp/>=<sp/>ld;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ld2x*=2;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ld.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl<sp/>&lt;&lt;<sp/>ld2x.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Test<sp/>ldinv()&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>Il<sp/>=<sp/>ld;<sp/></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ld.<ref refid="classldmat_12c160cb123c1102face7a50ec566a031" kindref="member" tooltip="Matrix inversion preserving the chosen form.">inv</ref>(Il);<sp/></highlight><highlight class="comment">//<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>I<sp/>=<sp/>Il.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()*ld.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>();</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;ld:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;<sp/>Il.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;eye:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl&lt;&lt;<sp/>I<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>getchar();</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Test<sp/>ldform()&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1<sp/>2;<sp/>2<sp/>13&quot;</highlight><highlight class="normal">;<sp/></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>lV(V);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>ilV(V);<sp/><sp/></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lV.inv(ilV);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;ld:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>lV<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;eye:&quot;</highlight><highlight class="normal">&lt;&lt;<sp/>V*(ilV.to_mat())<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Test<sp/>logdet()&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>chV(V);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;ch:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>chV.to_mat()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;log(det(V)):&quot;</highlight><highlight class="normal">&lt;&lt;<sp/>chV.logdet()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;qform<sp/>:<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>chV.qform(ones(2))<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>getchar();</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/test0.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/sim__profiles_8h.xml
===================================================================
--- /doc/xml/sim__profiles_8h.xml (revision 187)
+++ /doc/xml/sim__profiles_8h.xml (revision 187)
@@ -0,0 +1,122 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="sim__profiles_8h" kind="file">
+    <compoundname>sim_profiles.h</compoundname>
+    <includedby refid="pmsm__mix_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <includedby refid="pmsm__sim2_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby>
+    <includedby refid="sim__var_8cpp" local="yes">work/git/mixpp/pmsm/sim_var.cpp</includedby>
+    <invincdepgraph>
+      <node id="652">
+        <label>work/git/mixpp/pmsm/sim_profiles.h</label>
+        <link refid="sim_profiles.h"/>
+        <childnode refid="653" relation="include">
+        </childnode>
+        <childnode refid="654" relation="include">
+        </childnode>
+      </node>
+      <node id="654">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="653">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="sim__profiles_8h_1257a0141392d735ab1e6816ce2265f23" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void sim_profile_steps1</definition>
+        <argsstring>(double &amp;Ww, bool load=false)</argsstring>
+        <name>sim_profile_steps1</name>
+        <param>
+          <type>double &amp;</type>
+          <declname>Ww</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>load</declname>
+          <defval>false</defval>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/sim_profiles.h" line="13" bodyfile="/home/smidl/work/git/mixpp/pmsm/sim_profiles.h" bodystart="13" bodyend="64"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Common<sp/>simulation<sp/>profiles<sp/>for<sp/>PMSM<sp/>experiments</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>sim_profile_steps1(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;Ww,</highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>load=</highlight><highlight class="keyword">false</highlight><highlight class="normal">)<sp/>{</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.2)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A<sp/>//0.2ZP</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.4)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.6)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.7)<sp/>Ww=2.*M_PI*10.;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.0)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.2)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.4)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.6)<sp/>Ww=2.*M_PI*50.;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.9)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.1)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.3)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.5)<sp/>Ww=2.*M_PI*100;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.8)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.0)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.2)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.4)<sp/>Ww=2.*M_PI*150;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.7)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.9)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.1)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.3)<sp/>Ww=2.*M_PI*0;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.8)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.0)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.2)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.4)<sp/>Ww=2.*M_PI*(-10.);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.3)<sp/>Ww=2.*M_PI*(-50.);</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.3)<sp/>Ww=2.*M_PI*(-100.);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.3)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.5)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;9)<sp/>Ww=2.*M_PI*0;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//remove<sp/>load<sp/>if<sp/>load=false</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(!load)<sp/>x[8]=0.0;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/sim_profiles.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/namespaceitpp.xml
===================================================================
--- /doc/xml/namespaceitpp.xml (revision 187)
+++ /doc/xml/namespaceitpp.xml (revision 187)
@@ -0,0 +1,140 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="namespaceitpp" kind="namespace">
+    <compoundname>itpp</compoundname>
+    <innerclass refid="classitpp_1_1Gamma__RNG" prot="public">itpp::Gamma_RNG</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="namespaceitpp_1d4fe888447a2d94442920f47bcc086fe" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>Array&lt; int &gt;</type>
+        <definition>Array&lt; int &gt; itpp::to_Arr</definition>
+        <argsstring>(const ivec &amp;indices)</argsstring>
+        <name>to_Arr</name>
+        <param>
+          <type>const ivec &amp;</type>
+          <declname>indices</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="23" bodyend="29"/>
+      </memberdef>
+      <memberdef kind="function" id="namespaceitpp_1da4f924b175b1eda82d66fdda8f06a92" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>ivec</type>
+        <definition>ivec itpp::linspace</definition>
+        <argsstring>(int from, int to)</argsstring>
+        <name>linspace</name>
+        <param>
+          <type>int</type>
+          <declname>from</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>to</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="31" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="31" bodyend="37"/>
+      </memberdef>
+      <memberdef kind="function" id="namespaceitpp_1a372ba9fea572e6cf22dc5d792e24ea8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void itpp::set_subvector</definition>
+        <argsstring>(vec &amp;ov, const ivec &amp;iv, const vec &amp;v)</argsstring>
+        <name>set_subvector</name>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ov</declname>
+        </param>
+        <param>
+          <type>const ivec &amp;</type>
+          <declname>iv</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="39" bodyend="50"/>
+      </memberdef>
+      <memberdef kind="function" id="namespaceitpp_187d0578292e412834a4a18435baa7e0f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>bvec</type>
+        <definition>bvec itpp::operator &amp;</definition>
+        <argsstring>(const bvec &amp;a, const bvec &amp;b)</argsstring>
+        <name>operator &amp;</name>
+        <param>
+          <type>const bvec &amp;</type>
+          <declname>a</declname>
+        </param>
+        <param>
+          <type>const bvec &amp;</type>
+          <declname>b</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="59" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="59" bodyend="67"/>
+      </memberdef>
+      <memberdef kind="function" id="namespaceitpp_103c4dd3d778cb4a63a21451c21a30069" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>bvec</type>
+        <definition>bvec itpp::operator|</definition>
+        <argsstring>(const bvec &amp;a, const bvec &amp;b)</argsstring>
+        <name>operator|</name>
+        <param>
+          <type>const bvec &amp;</type>
+          <declname>a</declname>
+        </param>
+        <param>
+          <type>const bvec &amp;</type>
+          <declname>b</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="69" bodyend="77"/>
+      </memberdef>
+      <memberdef kind="function" id="namespaceitpp_1bd50eeb4508aaf4b7296f3a904458886" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool itpp::qr</definition>
+        <argsstring>(const mat &amp;A, mat &amp;R)</argsstring>
+        <name>qr</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>R</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="251" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="251" bodyend="278"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="22"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/fixed_8cpp.xml
===================================================================
--- /doc/xml/fixed_8cpp.xml (revision 187)
+++ /doc/xml/fixed_8cpp.xml (revision 187)
@@ -0,0 +1,260 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="fixed_8cpp" kind="file">
+    <compoundname>fixed.cpp</compoundname>
+    <includes refid="fixed_8h" local="yes">fixed.h</includes>
+    <incdepgraph>
+      <node id="751">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp</label>
+        <link refid="fixed.cpp"/>
+        <childnode refid="752" relation="include">
+        </childnode>
+      </node>
+      <node id="752">
+        <label>fixed.h</label>
+        <link refid="fixed_8h-source"/>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="fixed_8cpp_198167cf2f2a56e52fe05495e1ac08678" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>long</type>
+        <definition>long prevod</definition>
+        <argsstring>(double x, unsigned int posun)</argsstring>
+        <name>prevod</name>
+        <param>
+          <type>double</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>posun</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="22" bodyend="33"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8cpp_1621d21561d09502b53759d627511b688" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double zprevod</definition>
+        <argsstring>(long x, unsigned int posun)</argsstring>
+        <name>zprevod</name>
+        <param>
+          <type>long</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>posun</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="12" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="35" bodyend="44"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8cpp_150d456f9c404f8c7e49246d61930c59c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>long</type>
+        <definition>long nasob</definition>
+        <argsstring>(int x, int y, unsigned int posun)</argsstring>
+        <name>nasob</name>
+        <param>
+          <type>int</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>y</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>posun</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="14" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="46" bodyend="60"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8cpp_19aaf1455f6660d8566e6876236e3e3ab" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int deleni15</definition>
+        <argsstring>(int x, int y)</argsstring>
+        <name>deleni15</name>
+        <param>
+          <type>int</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>y</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="16" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="62" bodyend="71"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8cpp_1ea13e9b9069cde6d7947242971c7780c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int deleni</definition>
+        <argsstring>(int x, int y, int posun1, int posun2, int scale, int posun_fin)</argsstring>
+        <name>deleni</name>
+        <param>
+          <type>int</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>y</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>posun1</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>posun2</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>scale</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>posun_fin</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="73" bodyend="107"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*<sp/></highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Operace<sp/>v<sp/>pevne<sp/>radove<sp/>carce</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>9.10.2005</highlight></codeline>
+<codeline lineno="5"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;fixed.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>prevod(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prevod<sp/>&quot;x&quot;<sp/>do<sp/>systemu<sp/>&quot;Qposun&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>zprevod(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prevod<sp/>&quot;x&quot;<sp/>ze<sp/>systemu<sp/>&quot;Qposun&quot;<sp/>do<sp/>DOUBLE</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>nasob(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(x*y)&gt;&gt;posun</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(x*Q15/y)<sp/>se<sp/>saturaci</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>scale,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun_fin);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="comment">//<sp/>obecne<sp/>deleni:<sp/>x_&quot;Qposun1&quot;*&quot;Qscale&quot;/y_&quot;Qposun2&quot;<sp/>-&gt;<sp/>&quot;Q_posun_fin&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>prevod(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun)</highlight></codeline>
+<codeline lineno="23"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>y,nasobic;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>znamenko;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/>nasobic=(long)1&lt;&lt;posun;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&gt;=0)<sp/>znamenko=1;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>znamenko=-1;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/>y=(long)(x*nasobic+znamenko*0.5);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>y;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>zprevod(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun)</highlight></codeline>
+<codeline lineno="36"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>nasobic;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/>nasobic=(long)1&lt;&lt;posun;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/>y=(double)x/nasobic;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>y;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>nasob(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun)</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>z,zaokrouhl;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zaokrouhl<sp/>...<sp/>zaokrouhlovani<sp/>vysledku<sp/>pricteni<sp/>0.5</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>znamenko;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(posun&gt;0)</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/>zaokrouhl=(long)1&lt;&lt;(posun-1);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>zaokrouhl=0;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/>z=(long)x*y;</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(z&gt;=0)<sp/>znamenko=1;</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>znamenko=-1;</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/>z=(z+znamenko*zaokrouhl)&gt;&gt;posun;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
+<codeline lineno="60"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>deleni<sp/>Q15/Q15<sp/>se<sp/>saturaci</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/>z=(long)x*32768/y;</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(z&gt;32767)<sp/>z=32767;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(z&lt;-32768)<sp/>z=-32768;<sp/><sp/></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal">)z;</highlight></codeline>
+<codeline lineno="71"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>scale,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun_fin)<sp/><sp/></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="75"><highlight class="comment">x/y<sp/><sp/><sp/><sp/>...<sp/>podil</highlight></codeline>
+<codeline lineno="76"><highlight class="comment">posun1<sp/>...<sp/>posun<sp/>x<sp/>(scale<sp/>faktor)</highlight></codeline>
+<codeline lineno="77"><highlight class="comment">posun2<sp/>...<sp/>posun<sp/>y</highlight></codeline>
+<codeline lineno="78"><highlight class="comment">scale<sp/><sp/>...<sp/>posun<sp/>pri<sp/>deleni<sp/>-<sp/>pomocny</highlight></codeline>
+<codeline lineno="79"><highlight class="comment">posun_fin<sp/>...<sp/>system,<sp/>ve<sp/>kterem<sp/>ma<sp/>byt<sp/>vysledek<sp/>(scale<sp/>faktor<sp/>vysledku)</highlight></codeline>
+<codeline lineno="80"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>bit_posun;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>zz,<sp/>scale_fakt,<sp/>scale_fin;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/>scale_fakt=(long)1&lt;&lt;scale;</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/>bit_posun=(posun1+scale-posun2)-posun_fin;</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/>zz=(long)x*scale_fakt/y;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(bit_posun&gt;=0)</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/>zz=(int)(zz&gt;&gt;bit_posun);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/>{<sp/>bit_posun*=-1;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/>zz=(int)(zz&lt;&lt;bit_posun);</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Saturace<sp/>vystupu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zz&gt;32767)</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/>z=32767;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zz&lt;-32768)</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/>z=-32768;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/>z=zz;</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classCarUI.xml
===================================================================
--- /doc/xml/classCarUI.xml (revision 187)
+++ /doc/xml/classCarUI.xml (revision 187)
@@ -0,0 +1,388 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classCarUI" kind="class" prot="public">
+    <compoundname>CarUI</compoundname>
+    <basecompoundref refid="classCompoundUserInfo" prot="public" virt="non-virtual">CompoundUserInfo&lt; Car &gt;</basecompoundref>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classCarUI_1672677adad1f67b528581901a4cc9c10" prot="private" static="no" mutable="no">
+        <type>BindedElement&lt; int &gt;</type>
+        <definition>BindedElement&lt;int&gt; CarUI::year</definition>
+        <argsstring></argsstring>
+        <name>year</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="63" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="63" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classCarUI_13f2a8aba1ef6a8a9911ddb36407cae0a" prot="private" static="no" mutable="no">
+        <type>BindedElement&lt; int &gt;</type>
+        <definition>BindedElement&lt;int&gt; CarUI::kilometers</definition>
+        <argsstring></argsstring>
+        <name>kilometers</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="64" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="64" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classCarUI_1edf1c13cfca7a79489724c6d4bd739b3" prot="private" static="no" mutable="no">
+        <type>BindedElement&lt; string &gt;</type>
+        <definition>BindedElement&lt;string&gt; CarUI::manufacturer</definition>
+        <argsstring></argsstring>
+        <name>manufacturer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="65" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="65" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classCarUI_116c43862be936b9325ad2e65b56bf97d" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>CarUI::CarUI</definition>
+        <argsstring>()</argsstring>
+        <name>CarUI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="75" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="67" bodyend="76"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classCarUI_1705ce0e5f6cbf2642a359e36dfb8cf0f" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>Car *</type>
+        <definition>Car* CarUI::AssemblyInstance</definition>
+        <argsstring>()</argsstring>
+        <name>AssemblyInstance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="80" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="79" bodyend="83"/>
+      </memberdef>
+      <memberdef kind="function" id="classCarUI_1a613783b7342c165c74568b0c770eb13" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool CarUI::DisassemblyInstance</definition>
+        <argsstring>(Car &amp;instance)</argsstring>
+        <name>DisassemblyInstance</name>
+        <param>
+          <type>Car &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="86" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="85" bodyend="91"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; Car &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt; Car &gt; &amp; TypedUserInfo&lt; Car &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <initializer> CarUI( )</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="752">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="750" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="749">
+        <label>TypedUserInfo&lt; Car &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="750" relation="public-inheritance">
+        </childnode>
+        <childnode refid="752" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="748">
+        <label>CompoundUserInfo&lt; Car &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="749" relation="public-inheritance">
+        </childnode>
+        <childnode refid="753" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="753">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="752" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="750">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="751" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="747">
+        <label>CarUI</label>
+        <childnode refid="748" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="751">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="759">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="761">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="757" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="760">
+        <label>string</label>
+      </node>
+      <node id="756">
+        <label>TypedUserInfo&lt; Car &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="757" relation="public-inheritance">
+        </childnode>
+        <childnode refid="756" relation="usage">
+          <edgelabel>instance</edgelabel>
+        </childnode>
+        <childnode refid="761" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="755">
+        <label>CompoundUserInfo&lt; Car &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="756" relation="public-inheritance">
+        </childnode>
+        <childnode refid="762" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="762">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="761" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="757">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="758" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="760" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="754">
+        <label>CarUI</label>
+        <childnode refid="755" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="758">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="759" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="61" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="60" bodyend="92"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>CarUI</scope><name>Assembly</name></member>
+      <member refid="classCarUI_1705ce0e5f6cbf2642a359e36dfb8cf0f" prot="private" virt="non-virtual"><scope>CarUI</scope><name>AssemblyInstance</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>BindingFrame</name></member>
+      <member refid="classCarUI_116c43862be936b9325ad2e65b56bf97d" prot="public" virt="non-virtual"><scope>CarUI</scope><name>CarUI</name></member>
+      <member refid="classCompoundUserInfo_1e2265e447e2f48550c5d8d479119bbb3" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>CompoundUserInfo</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>CarUI</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>CarUI</scope><name>Disassembly</name></member>
+      <member refid="classCarUI_1a613783b7342c165c74568b0c770eb13" prot="private" virt="non-virtual"><scope>CarUI</scope><name>DisassemblyInstance</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>instance</name></member>
+      <member refid="classCarUI_13f2a8aba1ef6a8a9911ddb36407cae0a" prot="private" virt="non-virtual"><scope>CarUI</scope><name>kilometers</name></member>
+      <member refid="classCarUI_1edf1c13cfca7a79489724c6d4bd739b3" prot="private" virt="non-virtual"><scope>CarUI</scope><name>manufacturer</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>UserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>XMLCh2str</name></member>
+      <member refid="classCarUI_1672677adad1f67b528581901a4cc9c10" prot="private" virt="non-virtual"><scope>CarUI</scope><name>year</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>CarUI</scope><name>~TypedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_5a133335136da3f9c8bb1a415325d6a8.xml
===================================================================
--- /doc/xml/dir_5a133335136da3f9c8bb1a415325d6a8.xml (revision 187)
+++ /doc/xml/dir_5a133335136da3f9c8bb1a415325d6a8.xml (revision 187)
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_5a133335136da3f9c8bb1a415325d6a8" kind="dir">
+    <compoundname>work/git/mixpp/pmsm/simulator_zdenek/demo_example/</compoundname>
+    <innerdir refid="dir_260a13b6a8d96e228f9f275a00d11e2c">work/git/mixpp/pmsm/simulator_zdenek/demo_example/data/</innerdir>
+    <innerfile refid="demo__example_2nastaveni__regulatoru__float_8h">nastaveni_regulatoru_float.h</innerfile>
+    <innerfile refid="demo__example_2regulace_8h">regulace.h</innerfile>
+    <innerfile refid="demo__example_2simulator_8cpp">simulator.cpp</innerfile>
+    <innerfile refid="demo__example_2simulator_8h">simulator.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmmix.xml
===================================================================
--- /doc/xml/classmmix.xml (revision 187)
+++ /doc/xml/classmmix.xml (revision 187)
@@ -0,0 +1,400 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmmix" kind="class" prot="public">
+    <compoundname>mmix</compoundname>
+    <basecompoundref refid="classmpdf" prot="public" virt="non-virtual">mpdf</basecompoundref>
+    <includes refid="emix_8h" local="no">emix.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmmix_1460632c7a0afd41b7840902181a7d85f" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classmpdf" kindref="compound">mpdf</ref> * &gt;</type>
+        <definition>Array&lt;mpdf*&gt; mmix::Coms</definition>
+        <argsstring></argsstring>
+        <name>Coms</name>
+        <briefdescription>
+<para>Component (epdfs). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="173" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="173" bodyend="-1"/>
+        <referencedby refid="classmmix_11a66629ec5c2b6f4740606cf737f0193" compoundref="emix_8h" startline="189" endline="191">condition</referencedby>
+        <referencedby refid="classmmix_1e7681490a5c5b2d0a43f4e5842e10a9d" compoundref="emix_8h" startline="180" endline="187">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" prot="protected" static="no" mutable="no">
+        <type><ref refid="classemix" kindref="compound">emix</ref></type>
+        <definition>emix mmix::Epdf</definition>
+        <argsstring></argsstring>
+        <name>Epdf</name>
+        <briefdescription>
+<para>Internal <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="175" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="175" bodyend="-1"/>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix</referencedby>
+        <referencedby refid="classmmix_1e7681490a5c5b2d0a43f4e5842e10a9d" compoundref="emix_8h" startline="180" endline="187">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">mpdf::_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf::mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mmix::mmix</definition>
+        <argsstring>(RV &amp;rv, RV &amp;rvc)</argsstring>
+        <name>mmix</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvc</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="178" bodyend="178"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" compoundref="emix_8h" startline="175">Epdf</references>
+      </memberdef>
+      <memberdef kind="function" id="classmmix_1e7681490a5c5b2d0a43f4e5842e10a9d" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void mmix::set_parameters</definition>
+        <argsstring>(const vec &amp;w, const Array&lt; mpdf * &gt; &amp;Coms)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>w</declname>
+        </param>
+        <param>
+          <type>const Array&lt; <ref refid="classmpdf" kindref="compound">mpdf</ref> * &gt; &amp;</type>
+          <declname>Coms</declname>
+        </param>
+        <briefdescription>
+<para>Set weights <computeroutput>w</computeroutput> and components <computeroutput>R</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="180" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="180" bodyend="187"/>
+        <references refid="classmmix_1460632c7a0afd41b7840902181a7d85f" compoundref="emix_8h" startline="173">Coms</references>
+        <references refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" compoundref="emix_8h" startline="175">Epdf</references>
+        <references refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</references>
+      </memberdef>
+      <memberdef kind="function" id="classmmix_11a66629ec5c2b6f4740606cf737f0193" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void mmix::condition</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classmpdf_10f95a0cc6ab40611f46804682446ed83">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="189" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="189" bodyend="191"/>
+        <references refid="classmmix_1460632c7a0afd41b7840902181a7d85f" compoundref="emix_8h" startline="173">Coms</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Mixture of mpdfs with constant weights, all mpdfs are of equal type. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1228">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+      <node id="1227">
+        <label>mmix</label>
+        <link refid="classmmix"/>
+        <childnode refid="1228" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1232">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1231" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1231">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1233">
+        <label>emix</label>
+        <link refid="classemix"/>
+        <childnode refid="1232" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1230">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1231" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1232" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+      <node id="1229">
+        <label>mmix</label>
+        <link refid="classmmix"/>
+        <childnode refid="1230" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1233" relation="usage">
+          <edgelabel>Epdf</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="170" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="170" bodyend="192"/>
+    <listofallmembers>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mmix</scope><name>_epdf</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mmix</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mmix</scope><name>_rvc</name></member>
+      <member refid="classmmix_1460632c7a0afd41b7840902181a7d85f" prot="protected" virt="non-virtual"><scope>mmix</scope><name>Coms</name></member>
+      <member refid="classmmix_11a66629ec5c2b6f4740606cf737f0193" prot="public" virt="virtual"><scope>mmix</scope><name>condition</name></member>
+      <member refid="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" virt="non-virtual"><scope>mmix</scope><name>ep</name></member>
+      <member refid="classmmix_1507a5e6df53e6e9a6a330f1271cf0914" prot="protected" virt="non-virtual"><scope>mmix</scope><name>Epdf</name></member>
+      <member refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" virt="virtual"><scope>mmix</scope><name>evalcond</name></member>
+      <member refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" prot="public" virt="non-virtual"><scope>mmix</scope><name>mmix</name></member>
+      <member refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" virt="non-virtual"><scope>mmix</scope><name>mpdf</name></member>
+      <member refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" virt="non-virtual"><scope>mmix</scope><name>rv</name></member>
+      <member refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" virt="non-virtual"><scope>mmix</scope><name>rvc</name></member>
+      <member refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" virt="virtual"><scope>mmix</scope><name>samplecond</name></member>
+      <member refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" virt="virtual"><scope>mmix</scope><name>samplecond</name></member>
+      <member refid="classmmix_1e7681490a5c5b2d0a43f4e5842e10a9d" prot="public" virt="non-virtual"><scope>mmix</scope><name>set_parameters</name></member>
+      <member refid="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" virt="virtual"><scope>mmix</scope><name>~mpdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_bc93bfa121b730676fc011758b3d1661.xml
===================================================================
--- /doc/xml/dir_bc93bfa121b730676fc011758b3d1661.xml (revision 187)
+++ /doc/xml/dir_bc93bfa121b730676fc011758b3d1661.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_bc93bfa121b730676fc011758b3d1661" kind="dir">
+    <compoundname>work/git/</compoundname>
+    <innerdir refid="dir_0d189a467c95466b3579c34b36d3af26">work/git/mixpp/</innerdir>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__sim3_8cpp.xml
===================================================================
--- /doc/xml/pmsm__sim3_8cpp.xml (revision 187)
+++ /doc/xml/pmsm__sim3_8cpp.xml (revision 187)
@@ -0,0 +1,328 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__sim3_8cpp" kind="file">
+    <compoundname>pmsm_sim3.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <includes refid="simulator_8h" local="yes">simulator.h</includes>
+    <includes local="yes">../simulator_zdenek/ekf_example/ekf_obj.h</includes>
+    <includes local="yes">iopom.h</includes>
+    <incdepgraph>
+      <node id="624">
+        <label>../simulator_zdenek/ekf_example/ekf_obj.h</label>
+      </node>
+      <node id="616">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+      </node>
+      <node id="623">
+        <label>simulator.h</label>
+        <link refid="simulator_8h-source"/>
+      </node>
+      <node id="622">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="615" relation="include">
+        </childnode>
+      </node>
+      <node id="625">
+        <label>iopom.h</label>
+      </node>
+      <node id="619">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+      </node>
+      <node id="617">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+        <childnode refid="618" relation="include">
+        </childnode>
+        <childnode refid="616" relation="include">
+        </childnode>
+        <childnode refid="619" relation="include">
+        </childnode>
+      </node>
+      <node id="621">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+        <childnode refid="617" relation="include">
+        </childnode>
+        <childnode refid="618" relation="include">
+        </childnode>
+      </node>
+      <node id="615">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+        <childnode refid="616" relation="include">
+        </childnode>
+      </node>
+      <node id="613">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="612">
+        <label>work/git/mixpp/pmsm/pmsm_sim3.cpp</label>
+        <link refid="pmsm_sim3.cpp"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+        <childnode refid="614" relation="include">
+        </childnode>
+        <childnode refid="621" relation="include">
+        </childnode>
+        <childnode refid="615" relation="include">
+        </childnode>
+        <childnode refid="622" relation="include">
+        </childnode>
+        <childnode refid="623" relation="include">
+        </childnode>
+        <childnode refid="624" relation="include">
+        </childnode>
+        <childnode refid="625" relation="include">
+        </childnode>
+      </node>
+      <node id="620">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+        <childnode refid="618" relation="include">
+        </childnode>
+        <childnode refid="619" relation="include">
+        </childnode>
+      </node>
+      <node id="614">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+        <childnode refid="615" relation="include">
+        </childnode>
+        <childnode refid="617" relation="include">
+        </childnode>
+        <childnode refid="620" relation="include">
+        </childnode>
+      </node>
+      <node id="618">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="613" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__sim3_8cpp_1e447b6cc84b8f808272762ff23bc5eaa" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void set_simulator_t</definition>
+        <argsstring>(double &amp;Ww)</argsstring>
+        <name>set_simulator_t</name>
+        <param>
+          <type>double &amp;</type>
+          <declname>Ww</declname>
+        </param>
+        <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> filter with unknown <computeroutput>Q</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim3.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim3.cpp" bodystart="27" bodyend="76"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__sim3_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim3.cpp" line="78" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim3.cpp" bodystart="78" bodyend="165"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../simulator_zdenek/ekf_example/ekf_obj.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;iopom.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_simulator_t(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;Ww)<sp/>{</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.0002)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A<sp/>//0.2ZP</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.4)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.6)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.7)<sp/>Ww=2.*M_PI*10.;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.0)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.2)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.4)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.6)<sp/>Ww=2.*M_PI*50.;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.9)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.1)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.3)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.5)<sp/>Ww=2.*M_PI*100;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.8)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.0)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.2)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.4)<sp/>Ww=2.*M_PI*150;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.7)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.9)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.1)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.3)<sp/>Ww=2.*M_PI*0;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.8)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.0)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.2)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.4)<sp/>Ww=2.*M_PI*(-10.);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.3)<sp/>Ww=2.*M_PI*(-50.);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.3)<sp/>Ww=2.*M_PI*(-100.);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.3)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.5)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x[8]=0.0;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>90000;</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h<sp/>=<sp/>1e-6;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Nsimstep<sp/>=<sp/>125;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Npart<sp/>=<sp/>100;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0<sp/>0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.05<sp/>0.05<sp/>0.002<sp/>0.001&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.05<sp/>0.05&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>&quot;0.034<sp/>0.034&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;100&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{Q}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;4&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;0&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfixed" kindref="compound" tooltip="Extended Kalman Filter with full matrices in fixed point arithmetic.">EKFfixed</ref><sp/>KFE<sp/>(<sp/>rx,<sp/>rQ);</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.init_ekf<sp/>(<sp/>Nsimstep*h);</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma__fix" kindref="compound" tooltip="Gamma random walk around a fixed point.">mgamma_fix</ref><sp/>evolQ<sp/>(<sp/>rQ,rQ<sp/>);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF&lt;EKFfixed&gt;</ref><sp/>M<sp/>(<sp/>rx,rQ,evolQ,evolQ,Npart,KFE<sp/>);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initialize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>10.0<sp/>,Qdiag,<sp/>1.0);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.condition<sp/>(<sp/>Qdiag<sp/>);<sp/></highlight><highlight class="comment">//Zdenek<sp/>default</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pfinit=evolQ._epdf();</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>pfinit<sp/>);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>500000.0,<sp/>Qdiag,<sp/>0.9999<sp/>);</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Mep<sp/>=<sp/>M._epdf();</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt=zeros<sp/>(<sp/>Ndat<sp/>,9<sp/>);<sp/></highlight><highlight class="comment">//true<sp/>state<sp/>from<sp/>simulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Dt=zeros<sp/>(<sp/>Ndat,4<sp/>);<sp/></highlight><highlight class="comment">//observation</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtE=zeros<sp/>(<sp/>Ndat,<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtM=zeros<sp/>(<sp/>Ndat,4+4<sp/>);<sp/></highlight><highlight class="comment">//Q<sp/>+<sp/>x</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>SET<sp/>SIMULATOR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_set_parameters<sp/>(<sp/>0.28,0.003465,0.1989,0.0,4,1.5,0.04,<sp/>200.,<sp/>3e-6,<sp/>h<sp/>);</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww=0.0;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>k_rampa=1;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>k_rampa_tmp=0;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tK=1;tK&lt;Ndat;tK++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Number<sp/>of<sp/>steps<sp/>of<sp/>a<sp/>simulator<sp/>for<sp/>one<sp/>step<sp/>of<sp/>Kalman</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;<sp/>ii&lt;Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww+=k_rampa*2.*M_PI*2e-4;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//1000Hz/s</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Ww&gt;2.*M_PI*150.<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww=2.*M_PI*150.;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>k_rampa_tmp&lt;500000<sp/>)<sp/>k_rampa_tmp++;</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{k_rampa=-1;k_rampa_tmp=0;}</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Ww&lt;-2.*M_PI*150.<sp/>)<sp/>Ww=-2.*M_PI*150.;<sp/></highlight><highlight class="comment">/*<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>set_simulator_t(Ww);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_step<sp/>(<sp/>Ww<sp/>);</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>collect<sp/>data</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[0];</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[1];</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[2];</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[3];</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_row<sp/>(<sp/>tK,vec<sp/>(<sp/>x,9<sp/>)<sp/>);<sp/></highlight><highlight class="comment">//vec<sp/>from<sp/>C-array</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Dt.set_row<sp/>(<sp/>tK,<sp/>concat<sp/>(<sp/>dt,ut));</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_row<sp/>(<sp/>tK,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtM.set_row<sp/>(<sp/>tK,Mep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>tmpstr[200];</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sprintf(tmpstr,</highlight><highlight class="stringliteral">&quot;%s/%s&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;herez/&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;format&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ofstream<sp/><sp/>form(tmpstr);</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>form<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;#<sp/>Experimetal<sp/>header<sp/>file&quot;</highlight><highlight class="normal">&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dirfile_write(form,</highlight><highlight class="stringliteral">&quot;herez/&quot;</highlight><highlight class="normal">,Xt,</highlight><highlight class="stringliteral">&quot;X&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{isa<sp/>isb<sp/>om<sp/>th<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dirfile_write<sp/>(<sp/>form,</highlight><highlight class="stringliteral">&quot;herez&quot;</highlight><highlight class="normal">,XtM,</highlight><highlight class="stringliteral">&quot;XtM&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{q1<sp/>q2<sp/>q3<sp/>q4<sp/>isa<sp/>isb<sp/>om<sp/>th<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dirfile_write<sp/>(<sp/>form,</highlight><highlight class="stringliteral">&quot;herez&quot;</highlight><highlight class="normal">,XtE,</highlight><highlight class="stringliteral">&quot;XE&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{isa<sp/>isb<sp/>om<sp/>th<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dirfile_write<sp/>(<sp/>form,</highlight><highlight class="stringliteral">&quot;herez&quot;</highlight><highlight class="normal">,Dt,</highlight><highlight class="stringliteral">&quot;Dt&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{isa<sp/>isb<sp/>ua<sp/>ub<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="165"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim3.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classepdf.xml
===================================================================
--- /doc/xml/classepdf.xml (revision 187)
+++ /doc/xml/classepdf.xml (revision 187)
@@ -0,0 +1,326 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classepdf" kind="class" prot="public">
+    <compoundname>epdf</compoundname>
+    <derivedcompoundref refid="classeEF" prot="public" virt="non-virtual">eEF</derivedcompoundref>
+    <derivedcompoundref refid="classeEmp" prot="public" virt="non-virtual">eEmp</derivedcompoundref>
+    <derivedcompoundref refid="classemix" prot="public" virt="non-virtual">emix</derivedcompoundref>
+    <derivedcompoundref refid="classeuni" prot="public" virt="non-virtual">euni</derivedcompoundref>
+    <derivedcompoundref refid="classMPF_1_1mpfepdf" prot="public" virt="non-virtual">MPF&lt; BM_T &gt;::mpfepdf</derivedcompoundref>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>epdf::epdf</definition>
+        <argsstring>()</argsstring>
+        <name>epdf</name>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="141" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="141" bodyend="141"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>epdf::epdf</definition>
+        <argsstring>(const RV &amp;rv0)</argsstring>
+        <name>epdf</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="144" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="144" bodyend="144"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_18019654e494bf5e458f6fb947e11b262" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>vec</type>
+        <definition>virtual vec epdf::sample</definition>
+        <argsstring>() const =0</argsstring>
+        <name>sample</name>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classeEmp_183f9283f92b805508d896479dc1ccf12">sample</reimplementedby>
+        <reimplementedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd">sample</reimplementedby>
+        <reimplementedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425">sample</reimplementedby>
+        <reimplementedby refid="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classemix_10650601f24e633e0ab09aa1e46c14483">sample</reimplementedby>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="149"/>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">PF::set_est</referencedby>
+        <referencedby refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" compoundref="libEF_8cpp" startline="199" endline="207">eEmp::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="153" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="153" bodyend="153"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_16aef3eca74899692503769c18add1a4c" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>double</type>
+        <definition>virtual double epdf::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const =0</argsstring>
+        <name>evalpdflog</name>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classeEmp_123e7358995400865ad2e278945922fb3">evalpdflog</reimplementedby>
+        <reimplementedby refid="classeuni_106af95d514a6623ad4688bd2ad50ad71">evalpdflog</reimplementedby>
+        <reimplementedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef">evalpdflog</reimplementedby>
+        <reimplementedby refid="classegiw_1425cbc53b377274e28c6add942bab62d">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classemix_1469e910479b3402589104ef3bb1b5741">evalpdflog</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute log-probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="156"/>
+        <referencedby refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">eval</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_1bf0a070a8f3e67a93604ca724638b870" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>vec</type>
+        <definition>virtual vec epdf::mean</definition>
+        <argsstring>() const =0</argsstring>
+        <name>mean</name>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d">mean</reimplementedby>
+        <reimplementedby refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1">mean</reimplementedby>
+        <reimplementedby refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a">mean</reimplementedby>
+        <reimplementedby refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classemix_1b662a51d042b062020460e64bff4e9e8">mean</reimplementedby>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="159"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual epdf::~epdf</definition>
+        <argsstring>()</argsstring>
+        <name>~epdf</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="162" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="162" bodyend="162"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Probability density function with numerical statistics, e.g. posterior density. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1015">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1012" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1011">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="1018">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1015" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1012" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1019">
+        <label>eEmp</label>
+        <link refid="classeEmp"/>
+        <childnode refid="1011" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1020">
+        <label>emix</label>
+        <link refid="classemix"/>
+        <childnode refid="1011" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1017">
+        <label>enorm&lt; chmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1015" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1012" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1021">
+        <label>euni</label>
+        <link refid="classeuni"/>
+        <childnode refid="1011" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1016">
+        <label>enorm&lt; ldmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1015" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1012" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1013">
+        <label>egamma</label>
+        <link refid="classegamma"/>
+        <childnode refid="1012" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1012">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1011" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1022">
+        <label>MPF&lt; BM_T &gt;::mpfepdf</label>
+        <childnode refid="1011" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1014">
+        <label>egiw</label>
+        <link refid="classegiw"/>
+        <childnode refid="1012" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1023">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1024" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1024">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="135" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="135" bodyend="165"/>
+    <listofallmembers>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>epdf</scope><name>_rv</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>epdf</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>epdf</scope><name>epdf</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>epdf</scope><name>eval</name></member>
+      <member refid="classepdf_16aef3eca74899692503769c18add1a4c" prot="public" virt="pure-virtual"><scope>epdf</scope><name>evalpdflog</name></member>
+      <member refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" prot="public" virt="pure-virtual"><scope>epdf</scope><name>mean</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>epdf</scope><name>rv</name></member>
+      <member refid="classepdf_18019654e494bf5e458f6fb947e11b262" prot="public" virt="pure-virtual"><scope>epdf</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>epdf</scope><name>sampleN</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>epdf</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classIntAttribute.xml
===================================================================
--- /doc/xml/classIntAttribute.xml (revision 187)
+++ /doc/xml/classIntAttribute.xml (revision 187)
@@ -0,0 +1,165 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classIntAttribute" kind="class" prot="public">
+    <compoundname>IntAttribute</compoundname>
+    <basecompoundref refid="classAttribute" prot="public" virt="non-virtual">Attribute</basecompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classIntAttribute_1cfcbc444956eac82bbc6a484f2f97f55" prot="public" static="no" mutable="no">
+        <type>int</type>
+        <definition>int IntAttribute::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="-1"/>
+        <referencedby refid="classCarUI_1931b042d42e04cb6ac84ee2a28d8ca3c" compoundref="testUI_8cpp" startline="74" endline="78">CarUI::build</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classIntAttribute_15f958f133ecb1970de50345808d6120a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>IntAttribute::IntAttribute</definition>
+        <argsstring>(const string name)</argsstring>
+        <name>IntAttribute</name>
+        <param>
+          <type>const string</type>
+          <declname>name</declname>
+        </param>
+        <briefdescription>
+<para>User Info base class. </para>        </briefdescription>
+        <detaileddescription>
+<para>This class is used to store information about parameters of an object. It support loading and saving of the information and, potentially, interaction with the user. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="116" bodyend="120"/>
+      </memberdef>
+      <memberdef kind="function" id="classIntAttribute_127d584df58c76251f45a15931ee6df3e" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void IntAttribute::Set</definition>
+        <argsstring>(const string str)</argsstring>
+        <name>Set</name>
+        <reimplements refid="classAttribute_1bfb68f3502af06cda0f61390526e1c2f">Set</reimplements>
+        <param>
+          <type>const string</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+<para>Set accessor to this attribute converting input string into a properly-typed value. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="117" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="122" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="classIntAttribute_1a7bc8b5ec5291125e6eee9fd09fa54b7" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>const string</type>
+        <definition>const string IntAttribute::Get</definition>
+        <argsstring>()</argsstring>
+        <name>Get</name>
+        <reimplements refid="classAttribute_1ebeef001a0f4176900f643f529c549b8">Get</reimplements>
+        <briefdescription>
+<para>Get accessor converting stored value into a string. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="118" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="127" bodyend="132"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_1abd94a0487d662f28264f4faa214d894" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Attribute::Attach</definition>
+        <argsstring>(MappedAttributes &amp;externalAttributes)</argsstring>
+        <name>Attach</name>
+        <param>
+          <type><ref refid="classAttribute_1342750acf29e4c37d009301ef5075111" kindref="member">MappedAttributes</ref> &amp;</type>
+          <declname>externalAttributes</declname>
+        </param>
+        <briefdescription>
+<para>This method is the key method to connect the attribute to the related UI element. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="73" bodyend="77"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_1387a68e5de7b1e31022022493f00cbff" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Attribute::FillAttribute</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>FillAttribute</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method add and DOMAttribute node to the DOMElement passed as an argument. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="79" bodyend="90"/>
+        <references refid="classAttribute_1ebeef001a0f4176900f643f529c549b8">Attribute::Get</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-type">
+      <memberdef kind="typedef" id="classAttribute_1342750acf29e4c37d009301ef5075111" prot="public" static="no">
+        <type>map&lt; const XMLCh *const, <ref refid="classAttribute" kindref="compound">Attribute</ref> *const, GlobalXercesConnector::Comparator &gt;</type>
+        <definition>typedef map&lt;const XMLCh* const, Attribute* const, GlobalXercesConnector::Comparator&gt; Attribute::MappedAttributes</definition>
+        <argsstring></argsstring>
+        <name>MappedAttributes</name>
+        <briefdescription>
+<para>Type definition of mapping which transforms names to the related attributes. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="79" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class encapsulating all the necessary stuff to work with an int attribute. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="919">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+      </node>
+      <node id="918">
+        <label>IntAttribute</label>
+        <link refid="classIntAttribute"/>
+        <childnode refid="919" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="921">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+      </node>
+      <node id="920">
+        <label>IntAttribute</label>
+        <link refid="classIntAttribute"/>
+        <childnode refid="921" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="113" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="112" bodyend="119"/>
+    <listofallmembers>
+      <member refid="classAttribute_1abd94a0487d662f28264f4faa214d894" prot="public" virt="non-virtual"><scope>IntAttribute</scope><name>Attach</name></member>
+      <member refid="classAttribute_131c94d75bbe6b2834b1ef633cb8565fb" prot="public" virt="non-virtual"><scope>IntAttribute</scope><name>Attribute</name></member>
+      <member refid="classAttribute_1387a68e5de7b1e31022022493f00cbff" prot="public" virt="non-virtual"><scope>IntAttribute</scope><name>FillAttribute</name></member>
+      <member refid="classIntAttribute_1a7bc8b5ec5291125e6eee9fd09fa54b7" prot="public" virt="virtual"><scope>IntAttribute</scope><name>Get</name></member>
+      <member refid="classIntAttribute_15f958f133ecb1970de50345808d6120a" prot="public" virt="non-virtual"><scope>IntAttribute</scope><name>IntAttribute</name></member>
+      <member refid="classAttribute_1342750acf29e4c37d009301ef5075111" prot="public" virt="non-virtual"><scope>IntAttribute</scope><name>MappedAttributes</name></member>
+      <member refid="classIntAttribute_127d584df58c76251f45a15931ee6df3e" prot="public" virt="virtual"><scope>IntAttribute</scope><name>Set</name></member>
+      <member refid="classIntAttribute_1cfcbc444956eac82bbc6a484f2f97f55" prot="public" virt="non-virtual"><scope>IntAttribute</scope><name>value</name></member>
+      <member refid="classAttribute_128ab087bb886728670e4ae5791bc2ea8" prot="public" virt="non-virtual"><scope>IntAttribute</scope><name>~Attribute</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf__example_2data_2kresli__ladeni_8m.xml
===================================================================
--- /doc/xml/ekf__example_2data_2kresli__ladeni_8m.xml (revision 187)
+++ /doc/xml/ekf__example_2data_2kresli__ladeni_8m.xml (revision 187)
@@ -0,0 +1,251 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf__example_2data_2kresli__ladeni_8m" kind="file">
+    <compoundname>kresli_ladeni.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="ekf__example_2data_2kresli__ladeni_8m_1a701653d1050577ea3748418b35cf831" prot="public" static="no" mutable="no">
+        <type>figure plot(graf1(:, 1), graf1(:, 11)/(2 *pi))%fme hold on plot(graf1(figure plot(graf1(:, 1), graf1(:, 13))%Urm hold on plot(graf1(figur</type>
+        <definition>plot</definition>
+        <argsstring>)(graf1(:, 1), graf1(:, 17)/pi *180)%zatezny uhel(beta) legend(&apos;zatezny uhel(beta)&apos;)</argsstring>
+        <name>plot</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="54"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ekf__example_2data_2kresli__ladeni_8m_13f3fc921c8bf52b587725f3033134b1b" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>&apos;Isx&apos;</type>
+        <definition>&apos;Isx&apos; legend</definition>
+        <argsstring>()</argsstring>
+        <name>legend</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="10"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2data_2kresli__ladeni_8m_1e7198ad2253bbdb9e3f1230cab72743d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>figure plot(graf1(:, 1), graf1(:, 4))%Isd hold on plot(graf1(figure plot(graf1(:, 1), graf1(:, 6))%Isq hold on plot(graf1(figure plot(graf1(:, 1), graf1(:, 8))%M hold on plot(graf1(figure plot(graf1(:, 1), graf1(:, 9))%Fs hold on plot(graf1(figure</type>
+        <definition>figure plot (graf1(:,1),graf1(:,4)) % Isd hold on plot(graf1( figure plot (graf1(:,1),graf1(:,6)) % Isq hold on plot(graf1( figure plot (graf1(:,1),graf1(:,8)) % M hold on plot(graf1( figure plot (graf1(:,1),graf1(:,9)) % Fs hold on plot(graf1( figure plot</definition>
+        <argsstring>(graf1(:, 1), graf1(:, 10))%Poloha title(&apos;Poloha theta elektricka&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>graf1(:, 1)</type>
+        </param>
+        <param>
+          <type>graf1(:, 10)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="38"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2data_2kresli__ladeni_8m_161994250a12f4b04183e5dd302b228c2" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>figure</type>
+        <definition>figure plot</definition>
+        <argsstring>(graf1(:, 1), graf1(:, 18)/pi *180)%zatezny uhel(zbeta)-vypocet z napeti legend(&apos;zatezny uhel(zbeta)&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>graf1(:, 1)</type>
+        </param>
+        <param>
+          <type>graf1(:, 18)/pi *</type>
+          <declname>180</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="58"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2data_2kresli__ladeni_8m_162b415a7763f1677a3b64cbffa64122d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>figure</type>
+        <definition>figure plot</definition>
+        <argsstring>(graf1(:, 1), graf1(:, 19))%Uc legend(&apos;Uc&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>graf1(:, 1)</type>
+        </param>
+        <param>
+          <type>graf1(:, 19)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="62"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2data_2kresli__ladeni_8m_1d875faed9a34f4b9ee85f54ad74de065" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>figure</type>
+        <definition>figure plot</definition>
+        <argsstring>(graf1(:, 1), graf1(:, 20))%Um *2/Ucn legend(&apos;Um *2/Ucn&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>graf1(:, 1)</type>
+        </param>
+        <param>
+          <type>graf1(:, 20)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="66"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2data_2kresli__ladeni_8m_1b08b71afdf40a37e321c56c24ca122f3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>figure plot(graf1(:, 1), graf1(:, 21))%Upila hold on plot(graf1(figure</type>
+        <definition>figure plot (graf1(:,1),graf1(:,21)) % Upila hold on plot(graf1( figure plot</definition>
+        <argsstring>(graf1(:, 1), graf1(:, 23))%Ukomp legend(&apos;Ukomp&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>graf1(:, 1)</type>
+        </param>
+        <param>
+          <type>graf1(:, 23)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="76"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2data_2kresli__ladeni_8m_1209fb455fb6a1d98d44da94f623fc1f5" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>figure</type>
+        <definition>figure plot</definition>
+        <argsstring>(graf1(:, 1), graf1(:, 24))%ALGORITMUS legend(&apos;ALGORITMUS&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>graf1(:, 1)</type>
+        </param>
+        <param>
+          <type>graf1(:, 24)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m" line="80"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">load<sp/>graf1.txt<sp/>-ascii</highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal">%<sp/>t,<sp/>Isx,<sp/>Isy,<sp/>Isd,<sp/>Isdw,<sp/>Isq,<sp/>Isqw,<sp/>M,<sp/>Fs,<sp/>poloha,<sp/>rychlost,<sp/>rychlost_w,</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">%<sp/>Urm,<sp/>Urm_max,<sp/>beta,<sp/>zbeta,<sp/>Uc</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="7"><highlight class="normal">plot(graf1(:,1),graf1(:,2))<sp/><sp/><sp/><sp/><sp/>%<sp/>Isx</highlight></codeline>
+<codeline lineno="8"><highlight class="normal">%<sp/>hold<sp/>on</highlight></codeline>
+<codeline lineno="9"><highlight class="normal">%<sp/>plot(graf1(:,1),graf1(:,3),&apos;r&apos;)</highlight></codeline>
+<codeline lineno="10"><highlight class="normal">legend(&apos;Isx&apos;);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">plot(graf1(:,1),graf1(:,4))<sp/><sp/><sp/><sp/><sp/>%<sp/>Isd</highlight></codeline>
+<codeline lineno="14"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="15"><highlight class="normal">plot(graf1(:,1),graf1(:,5),</highlight><highlight class="charliteral">&apos;r&apos;</highlight><highlight class="normal">)<sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="16"><highlight class="normal">legend(&apos;Isd&apos;,&apos;Isdw&apos;);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="19"><highlight class="normal">plot(graf1(:,1),graf1(:,6))<sp/><sp/><sp/><sp/><sp/>%<sp/>Isq</highlight></codeline>
+<codeline lineno="20"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="21"><highlight class="normal">plot(graf1(:,1),graf1(:,7),&apos;r&apos;)<sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="22"><highlight class="normal">legend(&apos;Isq&apos;,&apos;Isqw&apos;);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">plot(graf1(:,1),graf1(:,8))<sp/><sp/><sp/><sp/><sp/>%<sp/>M</highlight></codeline>
+<codeline lineno="26"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="27"><highlight class="normal">plot(graf1(:,1),graf1(:,16),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/>%<sp/>M_model</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">legend(&apos;Moment&apos;,&apos;Moment<sp/>model&apos;);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">plot(graf1(:,1),graf1(:,9))<sp/><sp/><sp/><sp/><sp/>%<sp/>Fs</highlight></codeline>
+<codeline lineno="32"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">plot(graf1(:,1),graf1(:,15),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/>%<sp/>Fs_model</highlight></codeline>
+<codeline lineno="34"><highlight class="normal">legend(&apos;Fs&apos;,&apos;Fs<sp/>model&apos;);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="37"><highlight class="normal">plot(graf1(:,1),graf1(:,10))<sp/><sp/><sp/><sp/><sp/>%<sp/>Poloha</highlight></codeline>
+<codeline lineno="38"><highlight class="normal">title(&apos;Poloha<sp/>theta<sp/>elektricka&apos;);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="41"><highlight class="normal">plot(graf1(:,1),graf1(:,11)/(2*pi))<sp/><sp/><sp/><sp/><sp/>%<sp/>fme</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="43"><highlight class="normal">plot(graf1(:,1),graf1(:,12)/(2*pi),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="44"><highlight class="normal">legend(&apos;fme&apos;,&apos;fmew&apos;);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">plot(graf1(:,1),graf1(:,13))<sp/><sp/><sp/><sp/><sp/>%<sp/>Urm</highlight></codeline>
+<codeline lineno="48"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="49"><highlight class="normal">plot(graf1(:,1),graf1(:,14),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="50"><highlight class="normal">legend(&apos;Urm&apos;,&apos;Urm<sp/>max&apos;);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="53"><highlight class="normal">plot(graf1(:,1),graf1(:,17)/pi*180)<sp/><sp/><sp/><sp/><sp/>%<sp/>zatezny<sp/>uhel<sp/>(beta)</highlight></codeline>
+<codeline lineno="54"><highlight class="normal">legend(&apos;zatezny<sp/>uhel<sp/>(beta)&apos;);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="57"><highlight class="normal">plot(graf1(:,1),graf1(:,18)/pi*180)<sp/><sp/><sp/><sp/><sp/>%<sp/>zatezny<sp/>uhel<sp/>(zbeta)<sp/>-<sp/>vypocet<sp/>z<sp/>napeti</highlight></codeline>
+<codeline lineno="58"><highlight class="normal">legend(&apos;zatezny<sp/>uhel<sp/>(zbeta)&apos;);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="61"><highlight class="normal">plot(graf1(:,1),graf1(:,19))<sp/><sp/><sp/><sp/><sp/>%<sp/>Uc</highlight></codeline>
+<codeline lineno="62"><highlight class="normal">legend(&apos;Uc&apos;);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="65"><highlight class="normal">plot(graf1(:,1),graf1(:,20))<sp/><sp/><sp/><sp/><sp/>%<sp/>Um*2/Ucn</highlight></codeline>
+<codeline lineno="66"><highlight class="normal">legend(&apos;Um*2/Ucn&apos;);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="69"><highlight class="normal">plot(graf1(:,1),graf1(:,21))<sp/><sp/><sp/><sp/><sp/>%<sp/>Upila</highlight></codeline>
+<codeline lineno="70"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="71"><highlight class="normal">plot(graf1(:,1),graf1(:,22),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/>%<sp/>Ua</highlight></codeline>
+<codeline lineno="72"><highlight class="normal">legend(&apos;Upila&apos;,&apos;Ua&apos;);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="75"><highlight class="normal">plot(graf1(:,1),graf1(:,23))<sp/><sp/><sp/><sp/><sp/>%<sp/>Ukomp</highlight></codeline>
+<codeline lineno="76"><highlight class="normal">legend(&apos;Ukomp&apos;);</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="79"><highlight class="normal">plot(graf1(:,1),graf1(:,24))<sp/><sp/><sp/><sp/><sp/>%<sp/>ALGORITMUS</highlight></codeline>
+<codeline lineno="80"><highlight class="normal">legend(&apos;ALGORITMUS&apos;);</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="83"><highlight class="normal">plot(graf1(:,1),graf1(:,25)/2/pi)<sp/><sp/><sp/><sp/><sp/>%<sp/>fme_ekf</highlight></codeline>
+<codeline lineno="84"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="85"><highlight class="normal">plot(graf1(:,1),graf1(:,11)/(2*pi),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/>%<sp/>fme<sp/>skutecna</highlight></codeline>
+<codeline lineno="86"><highlight class="normal">legend(&apos;fme<sp/>ekf&apos;,&apos;fme&apos;);</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="89"><highlight class="normal">plot(graf1(:,1),graf1(:,26))<sp/><sp/><sp/><sp/><sp/>%<sp/>theta_elektricka_ekf</highlight></codeline>
+<codeline lineno="90"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="91"><highlight class="normal">plot(graf1(:,1),graf1(:,10),&apos;r&apos;)<sp/><sp/><sp/><sp/><sp/>%<sp/>Poloha<sp/>elektricka<sp/>skutecna</highlight></codeline>
+<codeline lineno="92"><highlight class="normal">legend(&apos;Theta<sp/>ekf&apos;,&apos;Theta<sp/>real&apos;);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/kresli_ladeni.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf__templ_8h.xml
===================================================================
--- /doc/xml/ekf__templ_8h.xml (revision 187)
+++ /doc/xml/ekf__templ_8h.xml (revision 187)
@@ -0,0 +1,119 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf__templ_8h" kind="file">
+    <compoundname>ekf_templ.h</compoundname>
+    <includes refid="libKF_8h" local="yes">libKF.h</includes>
+    <includedby refid="pmsm__mix_8cpp" local="no">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <incdepgraph>
+      <node id="217">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="215" relation="include">
+        </childnode>
+      </node>
+      <node id="213">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf_templ.h"/>
+        <childnode refid="214" relation="include">
+        </childnode>
+      </node>
+      <node id="220">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="215" relation="include">
+        </childnode>
+      </node>
+      <node id="218">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="215" relation="include">
+        </childnode>
+        <childnode refid="219" relation="include">
+        </childnode>
+        <childnode refid="217" relation="include">
+        </childnode>
+        <childnode refid="220" relation="include">
+        </childnode>
+      </node>
+      <node id="216">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="215" relation="include">
+        </childnode>
+        <childnode refid="217" relation="include">
+        </childnode>
+      </node>
+      <node id="215">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="221">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="215" relation="include">
+        </childnode>
+        <childnode refid="219" relation="include">
+        </childnode>
+        <childnode refid="220" relation="include">
+        </childnode>
+      </node>
+      <node id="214">
+        <label>libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="215" relation="include">
+        </childnode>
+        <childnode refid="216" relation="include">
+        </childnode>
+        <childnode refid="218" relation="include">
+        </childnode>
+        <childnode refid="221" relation="include">
+        </childnode>
+      </node>
+      <node id="219">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="215" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="222">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf_templ.h"/>
+        <childnode refid="223" relation="include">
+        </childnode>
+      </node>
+      <node id="223">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classEKFful__unQR" prot="public">EKFful_unQR</innerclass>
+    <briefdescription>
+<para>Bayesian Filtering for linear Gaussian models (<ref refid="classKalman" kindref="compound">Kalman</ref> Filter) and extensions. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>EKF_TEMP_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>EKF_TEMP_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">libKF.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21" refid="classEKFful__unQR" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKFful__unQR" kindref="compound" tooltip="Extended Kalman filter with unknown Q and R.">EKFful_unQR</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="24" refid="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" kindref="member" tooltip="Default constructor.">EKFful_unQR</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQR<sp/>)<sp/>:<ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQR<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="25" refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;QR0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q=diag(QR0(0,dimx-1));</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R=diag(QR0(dimx,dimx+dimy-1));</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//EKF_TEMP_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__mod_8cpp.xml
===================================================================
--- /doc/xml/pmsm__mod_8cpp.xml (revision 187)
+++ /doc/xml/pmsm__mod_8cpp.xml (revision 187)
@@ -0,0 +1,860 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__mod_8cpp" kind="file">
+    <compoundname>pmsm_mod.cpp</compoundname>
+    <includes local="no">math.h</includes>
+    <includes refid="pmsm__mod_8h" local="yes">pmsm_mod.h</includes>
+    <incdepgraph>
+      <node id="766">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp</label>
+        <link refid="pmsm_mod.cpp"/>
+        <childnode refid="767" relation="include">
+        </childnode>
+        <childnode refid="768" relation="include">
+        </childnode>
+      </node>
+      <node id="767">
+        <label>math.h</label>
+      </node>
+      <node id="768">
+        <label>pmsm_mod.h</label>
+        <link refid="pmsm__mod_8h-source"/>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="pmsm__mod_8cpp_1525335710b53cb064ca56b936120431e" prot="public" static="no">
+        <name>_USE_MATH_DEFINES</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1b542eb3ff111dec62acb9f73e97fcbfa" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double x[10]</definition>
+        <argsstring>[10]</argsstring>
+        <name>x</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="15" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1639a3957145f3b5dd034811cb4b4cf3f" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isx</definition>
+        <argsstring></argsstring>
+        <name>Isx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_109325d9dd09d541bdd3f9e9ff27a05d5" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isy</definition>
+        <argsstring></argsstring>
+        <name>Isy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1644ab0bba9804692e83c8d1ac3311b86" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double wme</definition>
+        <argsstring></argsstring>
+        <name>wme</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1bbeda59315d762b84c60e85160da8318" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Mz</definition>
+        <argsstring></argsstring>
+        <name>Mz</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1bb04f5f017f41f350a3d81fecdbfa762" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double M</definition>
+        <argsstring></argsstring>
+        <name>M</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1faeae9ee7305d7ca47b2707b9e1823ca" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Fs</definition>
+        <argsstring></argsstring>
+        <name>Fs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1d900a67bffe289dfbb015b908a2d1685" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isd</definition>
+        <argsstring></argsstring>
+        <name>Isd</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_11c6d368fcf2a6b1c92e39c124d25d737" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isq</definition>
+        <argsstring></argsstring>
+        <name>Isq</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1d64417a28c816d614e4501b01ca36a46" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Rs</definition>
+        <argsstring></argsstring>
+        <name>Rs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_176f32b985a9b31650b0d233491b7b7d4" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Ls</definition>
+        <argsstring></argsstring>
+        <name>Ls</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1558972170606cd05054ab130beabad1e" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Fmag</definition>
+        <argsstring></argsstring>
+        <name>Fmag</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_146a7db43612caf0461d4addfa52a71cc" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Bfric</definition>
+        <argsstring></argsstring>
+        <name>Bfric</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1ace2d484b0e3651abd108f04803d316c" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double p</definition>
+        <argsstring></argsstring>
+        <name>p</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1c6390bc2d074992cc6ca37d132a5262d" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double kp</definition>
+        <argsstring></argsstring>
+        <name>kp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__mod_8cpp_1229fe836529a54bc8a7d390148d7a488" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double J</definition>
+        <argsstring></argsstring>
+        <name>J</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+        <param>
+          <type>double *</type>
+          <declname>REL</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="58" bodyend="91"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__mod_8cpp_130e641e4ff70fdbcb19de2bcaba31ceb" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pmsm_double</definition>
+        <argsstring>(double usx, double usy, double h, unsigned int vypocet)</argsstring>
+        <name>pmsm_double</name>
+        <param>
+          <type>double</type>
+          <declname>usx</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>usy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>vypocet</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="93" bodyend="144"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__mod_8cpp_1d52cd3d5f2f7c2561b9d318c3d9e66a8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double uhel</definition>
+        <argsstring>(double x, double y)</argsstring>
+        <name>uhel</name>
+        <param>
+          <type>double</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>y</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="41" bodyend="55"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*<sp/>model<sp/>synchronniho<sp/>motoru<sp/>s<sp/>permanentnimi<sp/>magnety</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/>PMSM<sp/>v<sp/>plovouci<sp/>radove<sp/>carce<sp/>-<sp/>fyzikalni<sp/>model!</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>31.5.2007</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Upraven<sp/>vypocet<sp/>momentu<sp/>M<sp/>=<sp/>Fmag*Isq!!<sp/>(nikoliv<sp/>M<sp/>=<sp/>Fs*Isq!!)</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"><sp/><sp/><sp/>31.5.2007<sp/><sp/><sp/><sp/>doplnen<sp/>vypocet<sp/>zatezneho<sp/>uhlu<sp/>(beta)</highlight></codeline>
+<codeline lineno="9"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
+<codeline lineno="12"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm_mod.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[10];<sp/></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz,beta)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>...<sp/>beta<sp/>=<sp/>zatezny<sp/>uhel</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_pmsm(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*REL);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_double(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>vypocet);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pomocne<sp/>funkce</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,Isy,wme,Mz,M,Fs,Isd,Isq;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,Ls,Fmag,Bfric,p,kp,J;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Rs=odpor<sp/>stator;<sp/>Ls=statorova<sp/>indukcnost<sp/>(synchronni<sp/>reaktance)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">//<sp/>p=pocet<sp/>polparu,<sp/>kp=konst.<sp/>Parkovy<sp/>transf.,</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>J=moment<sp/>setrvacnosti<sp/>(J&lt;0<sp/>...<sp/>nekonecny)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uref,<sp/>Iref,<sp/>Wref,<sp/>Mref,<sp/>Fref,<sp/>Thetaref;<sp/></highlight><highlight class="comment">//<sp/>referencni<sp/>hodnoty</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dIsx,dIsx1,dIsx2,dIsx3,dIsy,dIsy1,dIsy2,dIsy3;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dTheta,dTheta1,dTheta2,dTheta3;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dw,dw1,dw2,dw3;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>A,B,C,D,E,F,G;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fsq;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y)</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x==0)</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y==0)<sp/>th=0.;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y&gt;0)<sp/>th=M_PI/2.;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>th=-M_PI/2.;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/>th=atan(y/x);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&lt;0)<sp/>th+=M_PI;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
+<codeline lineno="55"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_pmsm(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*REL)</highlight></codeline>
+<codeline lineno="59"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/>Rs=*(param);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/>Ls=*(param+1);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/>Fmag=*(param+2);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/>Bfric=*(param+3);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/>p=*(param+4);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/>kp=*(param+5);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/>J=*(param+6);</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/>Uref=*REL;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/>Iref=*(REL+1);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/>Wref=*(REL+2);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/>Thetaref=*(REL+3);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/>Mref=*(REL+4);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/>Fref=*(REL+5);</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight><highlight class="comment">//<sp/>definice<sp/>konstant<sp/>modelu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/>A=Rs/Ls;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/>B=Fmag/Ls*Wref/Iref;</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/>C=Uref/Iref/Ls;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/>D=Bfric/J;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/>E=kp*p*p*Fmag/J*Iref/Wref;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/>F=p/J*Mref/Wref;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/>G=Wref/Thetaref;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight><highlight class="comment">//<sp/>definice<sp/>pocatecnich<sp/>hodnot</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/>dIsx=0;dIsx1=0;dIsx2=0;dIsx3=0;dIsy=0;dIsy1=0;dIsy2=0;dIsy3=0;</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/>dTheta=0;dTheta1=0;dTheta2=0;dTheta3=0;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/>dw=0;dw1=0;dw2=0;dw3=0;</highlight></codeline>
+<codeline lineno="91"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_double(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>vypocet)</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vypocet&lt;5...Euler,<sp/>vypocet&gt;4<sp/>...<sp/>Adams<sp/>4.radu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fs,Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocty<sp/>diferenci</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/>dIsx=-A*x[0]+B*x[2]*sin(x[3]*Thetaref)+C*usx;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/>dIsy=-A*x[1]-B*x[2]*cos(x[3]*Thetaref)+C*usy;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/>dTheta=G*x[2];</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(J&gt;0)</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=E*(x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref))-D*x[2]-F*x[8];</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=0;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"></highlight><highlight class="comment">//<sp/>integrace</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(vypocet&lt;5)<sp/><sp/></highlight><highlight class="comment">//<sp/>Euler</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=dIsx*h;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=dIsy*h;</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=dw*h;</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=dTheta*h;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Adams<sp/>4.radu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=h/24*(55*dIsx-59*dIsx1+37*dIsx2-9*dIsx3);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=h/24*(55*dIsy-59*dIsy1+37*dIsy2-9*dIsy3);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=h/24*(55*dw-59*dw1+37*dw2-9*dw3);</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=h/24*(55*dTheta-59*dTheta1+37*dTheta2-9*dTheta3);</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>uprava<sp/>theta<sp/>tak,<sp/>aby<sp/>bylo<sp/>stale<sp/>v<sp/>rozmezi<sp/>(-pi,pi)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&gt;M_PI/Thetaref)<sp/>x[3]-=(2*M_PI/Thetaref);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&lt;-M_PI/Thetaref)<sp/>x[3]+=(2*M_PI/Thetaref);</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"></highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>zamena<sp/>diferenci</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/>dIsx3=dIsx2;dIsx2=dIsx1;dIsx1=dIsx;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/>dIsy3=dIsy2;dIsy2=dIsy1;dIsy1=dIsy;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/>dTheta3=dTheta2;dTheta2=dTheta1;dTheta1=dTheta;</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/>dw3=dw2;dw2=dw1;dw1=dw;</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/>x[6]=x[0]*cos(x[3]*Thetaref)+x[1]*sin(x[3]*Thetaref);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/>x[7]=x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>toku<sp/>statoru<sp/>Fsd<sp/>-<sp/>neni<sp/>normovany!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/>x[5]=Ls*x[6]*Iref+Fmag;</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Vypocet<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/>x[4]=kp*p*Fmag*Iref/Mref*(x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref));</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>zatezneho<sp/>uhlu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/>Fsq=Ls*x[7]*Iref;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/>x[10]=uhel(x[5],Fsq);</highlight></codeline>
+<codeline lineno="144"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/CMakeCXXCompilerId_8cpp.xml
===================================================================
--- /doc/xml/CMakeCXXCompilerId_8cpp.xml (revision 187)
+++ /doc/xml/CMakeCXXCompilerId_8cpp.xml (revision 187)
@@ -0,0 +1,237 @@
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+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
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+        <initializer>&quot;&quot;</initializer>
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+        <briefdescription>
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+        <name>info_platform</name>
+        <initializer> &quot;INFO&quot; &quot;:&quot; &quot;platform[&quot; PLATFORM_ID &quot;]&quot;</initializer>
+        <briefdescription>
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+        </inbodydescription>
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+      </memberdef>
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+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
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+<codeline lineno="130"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_MPRAS)<sp/>||<sp/>defined(MPRAS)</highlight></codeline>
+<codeline lineno="131"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;MP-RAS&quot;</highlight></codeline>
+<codeline lineno="132"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__osf)<sp/>||<sp/>defined(__osf__)</highlight></codeline>
+<codeline lineno="134"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;OSF1&quot;</highlight></codeline>
+<codeline lineno="135"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(_SCO_SV)<sp/>||<sp/>defined(SCO_SV)<sp/>||<sp/>defined(sco_sv)</highlight></codeline>
+<codeline lineno="137"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;SCO_SV&quot;</highlight></codeline>
+<codeline lineno="138"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__ultrix)<sp/>||<sp/>defined(__ultrix__)<sp/>||<sp/>defined(_ULTRIX)</highlight></codeline>
+<codeline lineno="140"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;ULTRIX&quot;</highlight></codeline>
+<codeline lineno="141"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight><highlight class="preprocessor">#elif<sp/>defined(__XENIX__)<sp/>||<sp/>defined(_XENIX)<sp/>||<sp/>defined(XENIX)</highlight></codeline>
+<codeline lineno="143"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;Xenix&quot;</highlight></codeline>
+<codeline lineno="144"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight><highlight class="preprocessor">#else<sp/></highlight><highlight class="comment">/*<sp/>unknown<sp/>platform<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight><highlight class="preprocessor">#<sp/>define<sp/>PLATFORM_ID<sp/>&quot;&quot;</highlight></codeline>
+<codeline lineno="147"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="149"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Construct<sp/>the<sp/>string<sp/>literal<sp/>in<sp/>pieces<sp/>to<sp/>prevent<sp/>the<sp/>source<sp/>from</highlight></codeline>
+<codeline lineno="151"><highlight class="comment"><sp/><sp/><sp/>getting<sp/>matched.<sp/><sp/>Store<sp/>it<sp/>in<sp/>a<sp/>pointer<sp/>rather<sp/>than<sp/>an<sp/>array</highlight></codeline>
+<codeline lineno="152"><highlight class="comment"><sp/><sp/><sp/>because<sp/>some<sp/>compilers<sp/>will<sp/>just<sp/>produce<sp/>instructions<sp/>to<sp/>fill<sp/>the</highlight></codeline>
+<codeline lineno="153"><highlight class="comment"><sp/><sp/><sp/>array<sp/>rather<sp/>than<sp/>assigning<sp/>a<sp/>pointer<sp/>to<sp/>a<sp/>static<sp/>array.<sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>info_platform<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;INFO&quot;</highlight><highlight class="normal"><sp/></highlight><highlight class="stringliteral">&quot;:&quot;</highlight><highlight class="normal"><sp/></highlight><highlight class="stringliteral">&quot;platform[&quot;</highlight><highlight class="normal"><sp/>PLATFORM_ID<sp/></highlight><highlight class="stringliteral">&quot;]&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdCXX/CMakeCXXCompilerId.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/blas__test2_8m.xml
===================================================================
--- /doc/xml/blas__test2_8m.xml (revision 187)
+++ /doc/xml/blas__test2_8m.xml (revision 187)
@@ -0,0 +1,197 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="blas__test2_8m" kind="file">
+    <compoundname>blas_test2.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="blas__test2_8m_1cc1e63b6f2c547c521a706fd48abf50f" prot="public" static="no" mutable="no">
+        <type>function test</type>
+        <definition>function test et</definition>
+        <argsstring></argsstring>
+        <name>et</name>
+        <initializer> zeros(1,4)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="3" bodyfile="/home/smidl/work/mixpp/matlab/blas_test2.m" bodystart="3" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test2_8m_15e767c53276c5ba0367f6ba64dc82f99" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>etf</definition>
+        <argsstring></argsstring>
+        <name>etf</name>
+        <initializer> zeros(1,4)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="4" bodyfile="/home/smidl/work/mixpp/matlab/blas_test2.m" bodystart="4" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test2_8m_1d53aeb78abc83a52ab8982f5c82a3d5b" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>S</definition>
+        <argsstring></argsstring>
+        <name>S</name>
+        <initializer>struct(&apos;A&apos;,2,&apos;B&apos;,3*eye(100))</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="5" bodyfile="/home/smidl/work/mixpp/matlab/blas_test2.m" bodystart="5" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test2_8m_1aa53ca0b650dfd85c4f59fa156f7a2cc" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <initializer> {[2],[3]}
+
+vn = [1000 10000 100000]</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="8" bodyfile="/home/smidl/work/mixpp/matlab/blas_test2.m" bodystart="6" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test2_8m_1c3100d653fe17cd5b26bd98491df5fed" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>iind</definition>
+        <argsstring></argsstring>
+        <name>iind</name>
+        <initializer>1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="9" bodyfile="/home/smidl/work/mixpp/matlab/blas_test2.m" bodystart="9" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test2_8m_1a52645c0ee282a748dee9b026b638478" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>x n</definition>
+        <argsstring></argsstring>
+        <name>n</name>
+        <initializer> vn
+	S.A = 0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="11" bodyfile="/home/smidl/work/mixpp/matlab/blas_test2.m" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test2_8m_1f6364c8177e92a378fa7fda86c61d4a8" prot="public" static="no" mutable="no">
+        <type>tic for</type>
+        <definition>tic for i</definition>
+        <argsstring></argsstring>
+        <name>i</name>
+        <initializer>1:n
+		C{1} = C{1} + 1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="14" bodyfile="/home/smidl/work/mixpp/matlab/blas_test2.m" bodystart="13" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="blas__test2_8m_165a6326f95794ee282cd2a13b4986bfd" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end et</definition>
+        <argsstring>(iind)</argsstring>
+        <name>et</name>
+        <param>
+          <type>iind</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="16"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test2_8m_152605b8bfe9724f4910df2a68e7ac87d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end etf</definition>
+        <argsstring>(iind)</argsstring>
+        <name>etf</name>
+        <param>
+          <type>iind</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="21"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test2_8m_1525ce07fd6e0bf2e31a809f3a5c8e421" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end et etf</type>
+        <definition>end et etf et</definition>
+        <argsstring>(1) function S</argsstring>
+        <name>et</name>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/blas_test2.m" line="30"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">function<sp/>test</highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal">et<sp/>=<sp/>zeros(1,4);</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">etf<sp/>=<sp/>zeros(1,4);</highlight></codeline>
+<codeline lineno="5"><highlight class="normal">S=</highlight><highlight class="keyword">struct</highlight><highlight class="normal">(</highlight><highlight class="charliteral">&apos;A&apos;</highlight><highlight class="normal">,2,</highlight><highlight class="charliteral">&apos;B&apos;</highlight><highlight class="normal">,3*eye(100));</highlight></codeline>
+<codeline lineno="6"><highlight class="normal">C<sp/>=<sp/>{,}</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal">vn<sp/>=<sp/>;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal">iind=1;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>n=<sp/>vn</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>S.A<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tic</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:n</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C{1}<sp/>=<sp/>C{1}<sp/>+<sp/>1;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>et(iind)<sp/>=<sp/>toc;<sp/></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tic</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:n</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>S=aa(S);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>etf(iind)<sp/>=<sp/>toc;<sp/></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>iind<sp/>=<sp/>iind+1;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="24"><highlight class="normal">et</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">etf</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal">et(1)</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal">function<sp/>S=aa(S)</highlight></codeline>
+<codeline lineno="30"><highlight class="normal">S.A<sp/>=<sp/>S.A<sp/>+<sp/>1;</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/matlab/blas_test2.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/index.xsd
===================================================================
--- /doc/xml/index.xsd (revision 187)
+++ /doc/xml/index.xsd (revision 187)
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8' ?>
+<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
+  <xsd:element name="doxygenindex" type="DoxygenType"/>
+
+  <xsd:complexType name="DoxygenType">
+    <xsd:sequence>
+      <xsd:element name="compound" type="CompoundType" minOccurs="0" maxOccurs="unbounded"/>
+    </xsd:sequence>
+    <xsd:attribute name="version" type="xsd:string" use="required"/>
+  </xsd:complexType>
+
+  <xsd:complexType name="CompoundType">
+    <xsd:sequence>
+      <xsd:element name="name" type="xsd:string"/>
+      <xsd:element name="member" type="MemberType" minOccurs="0" maxOccurs="unbounded"/>
+    </xsd:sequence>
+    <xsd:attribute name="refid" type="xsd:string" use="required"/>
+    <xsd:attribute name="kind" type="CompoundKind" use="required"/>
+  </xsd:complexType>
+
+  <xsd:complexType name="MemberType">
+    <xsd:sequence>
+      <xsd:element name="name" type="xsd:string"/>
+    </xsd:sequence>
+    <xsd:attribute name="refid" type="xsd:string" use="required"/>
+    <xsd:attribute name="kind" type="MemberKind" use="required"/>
+  </xsd:complexType>
+  
+  <xsd:simpleType name="CompoundKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="class"/>
+      <xsd:enumeration value="struct"/>
+      <xsd:enumeration value="union"/>
+      <xsd:enumeration value="interface"/>
+      <xsd:enumeration value="protocol"/>
+      <xsd:enumeration value="category"/>
+      <xsd:enumeration value="exception"/>
+      <xsd:enumeration value="file"/>
+      <xsd:enumeration value="namespace"/>
+      <xsd:enumeration value="group"/>
+      <xsd:enumeration value="page"/>
+      <xsd:enumeration value="example"/>
+      <xsd:enumeration value="dir"/>
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="MemberKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="define"/>
+      <xsd:enumeration value="property"/>
+      <xsd:enumeration value="event"/>
+      <xsd:enumeration value="variable"/>
+      <xsd:enumeration value="typedef"/>
+      <xsd:enumeration value="enum"/>
+      <xsd:enumeration value="enumvalue"/>
+      <xsd:enumeration value="function"/>
+      <xsd:enumeration value="signal"/>
+      <xsd:enumeration value="prototype"/>
+      <xsd:enumeration value="friend"/>
+      <xsd:enumeration value="dcop"/>
+      <xsd:enumeration value="slot"/>
+    </xsd:restriction>
+  </xsd:simpleType>
+
+</xsd:schema>
+
Index: /doc/xml/demo__example_2simulator_8cpp.xml
===================================================================
--- /doc/xml/demo__example_2simulator_8cpp.xml (revision 187)
+++ /doc/xml/demo__example_2simulator_8cpp.xml (revision 187)
@@ -0,0 +1,1123 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="demo__example_2simulator_8cpp" kind="file">
+    <compoundname>simulator.cpp</compoundname>
+    <includes local="no">math.h</includes>
+    <includes refid="demo__example_2regulace_8h" local="yes">regulace.h</includes>
+    <includes refid="demo__example_2simulator_8h" local="yes">simulator.h</includes>
+    <incdepgraph>
+      <node id="697">
+        <label>regulace.h</label>
+        <link refid="demo__example_2regulace_8h-source"/>
+      </node>
+      <node id="698">
+        <label>simulator.h</label>
+        <link refid="demo__example_2simulator_8h-source"/>
+      </node>
+      <node id="696">
+        <label>math.h</label>
+      </node>
+      <node id="695">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp</label>
+        <link refid="demo_example/simulator.cpp"/>
+        <childnode refid="696" relation="include">
+        </childnode>
+        <childnode refid="697" relation="include">
+        </childnode>
+        <childnode refid="698" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="demo__example_2simulator_8cpp_19cd91cdba17e9621f425b31a3662b484" prot="public" static="no">
+        <name>REZIM_REGULACE</name>
+        <initializer>1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="17" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_1d64417a28c816d614e4501b01ca36a46" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Rs</definition>
+        <argsstring></argsstring>
+        <name>Rs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_176f32b985a9b31650b0d233491b7b7d4" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Ls</definition>
+        <argsstring></argsstring>
+        <name>Ls</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_1558972170606cd05054ab130beabad1e" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Fmag</definition>
+        <argsstring></argsstring>
+        <name>Fmag</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_15d075d9998ae7bbabcd1eec0c27a4c3d" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dTheta</definition>
+        <argsstring></argsstring>
+        <name>dTheta</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_14ee05581e5d78f06a138e2f86b6c619c" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dTheta1</definition>
+        <argsstring></argsstring>
+        <name>dTheta1</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_1c6ed9fc65ecf7935a27a0fbacbecab8b" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dTheta2</definition>
+        <argsstring></argsstring>
+        <name>dTheta2</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_126ccf33b4cb557f30c8a78ce9e20d006" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dTheta3</definition>
+        <argsstring></argsstring>
+        <name>dTheta3</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_1c2a6e8a64aa67c5924cfe6488658065c" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dw</definition>
+        <argsstring></argsstring>
+        <name>dw</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_13dbeafa64f6523568b739c7c92d656cc" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dw1</definition>
+        <argsstring></argsstring>
+        <name>dw1</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_12fbe98a006d0a245e64bd0b5626bdbbe" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dw2</definition>
+        <argsstring></argsstring>
+        <name>dw2</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_10e1c55b73fae10df1cd50e581c01bd5a" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double dw3</definition>
+        <argsstring></argsstring>
+        <name>dw3</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_1639a3957145f3b5dd034811cb4b4cf3f" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isx</definition>
+        <argsstring></argsstring>
+        <name>Isx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_109325d9dd09d541bdd3f9e9ff27a05d5" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isy</definition>
+        <argsstring></argsstring>
+        <name>Isy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_1ca81c35c21e3a5f7f3a8d24504e76664" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double theta</definition>
+        <argsstring></argsstring>
+        <name>theta</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_16dc6e6f3c75c509ce943163afb5dade7" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double speed</definition>
+        <argsstring></argsstring>
+        <name>speed</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_13ece956ca424ebed99b0796b14a98374" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double u[2]</definition>
+        <argsstring>[2]</argsstring>
+        <name>u</name>
+        <initializer>{0.,0.}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="53" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="53" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_1a99b7cd727bdf0b27735f124f671b5ec" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double us[2]</definition>
+        <argsstring>[2]</argsstring>
+        <name>us</name>
+        <initializer>{0.,0.}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="54" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="54" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_16d9d7e9e326007ea4cb71e549dff4191" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double KalmanObs[4]</definition>
+        <argsstring>[4]</argsstring>
+        <name>KalmanObs</name>
+        <initializer>{0.,0.,0.,0.}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="57" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="57" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8cpp_187accd1af8e0aff4b818d891374f7cec" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double t</definition>
+        <argsstring></argsstring>
+        <name>t</name>
+        <initializer>0.</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="60" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="60" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="demo__example_2simulator_8cpp_1665bc30f8afe61d4444510513edce99d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void set_parameters</definition>
+        <argsstring>(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>double</type>
+          <declname>Rs0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ls0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Fmag0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Bf0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>J0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>dt0</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="19" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="62" bodyend="114"/>
+      </memberdef>
+      <memberdef kind="function" id="demo__example_2simulator_8cpp_148c8ee70c3cf89476b5cf2a1a1080c21" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void eval</definition>
+        <argsstring>(double Ww)</argsstring>
+        <name>eval</name>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="20" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="260" bodyend="291"/>
+      </memberdef>
+      <memberdef kind="function" id="demo__example_2simulator_8cpp_1d3b8a39e009e28d49610e94fbc943721" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>static void pwm</definition>
+        <argsstring>(unsigned int mod)</argsstring>
+        <name>pwm</name>
+        <param>
+          <type>unsigned int</type>
+          <declname>mod</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="117" bodyend="184"/>
+      </memberdef>
+      <memberdef kind="function" id="demo__example_2simulator_8cpp_1ee66e8081eeedb7bc836be175478bc42" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>static double ubytek</definition>
+        <argsstring>(double I)</argsstring>
+        <name>ubytek</name>
+        <param>
+          <type>double</type>
+          <declname>I</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="186" bodyend="204"/>
+      </memberdef>
+      <memberdef kind="function" id="demo__example_2simulator_8cpp_1e6c1e8a2485b12c9991afcf2213dcae8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>static void pmsm_model</definition>
+        <argsstring>(unsigned int mod)</argsstring>
+        <name>pmsm_model</name>
+        <param>
+          <type>unsigned int</type>
+          <declname>mod</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp" bodystart="207" bodyend="257"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Simulator<sp/>of<sp/>Vector<sp/>Controlled<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>This<sp/>module<sp/>is<sp/>background<sp/>for<sp/>PMSM<sp/>drive<sp/>object<sp/>design<sp/>and</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>introduces<sp/>basic<sp/>functions<sp/>...<sp/>set_parameters()<sp/>and<sp/>eval().</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;regulace.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>REZIM_REGULACE<sp/><sp/>1<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>0...reg.<sp/>momentu,<sp/>1...reg.rychlosti,<sp/>2...<sp/>Isqw=sqrt(Imax^2-Id^2)<sp/>-<sp/>max.<sp/>moment</highlight></codeline>
+<codeline lineno="18"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>eval(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//<sp/>local<sp/>functions</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_model(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="comment">//<sp/>simulator<sp/>properties<sp/>///////////////////////</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,Ls,Fmag,Bf,p,kp,J;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>parameters<sp/>of<sp/>PMSM<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,Uc,DT,U_modulace;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>dc-link<sp/>voltage<sp/>and<sp/>dead-time</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>field<sp/>weakening</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,h_reg,h_reg_real;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>simulation<sp/>step<sp/>and<sp/>sampling<sp/>of<sp/>employed<sp/>loops</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>h_reg_counter,h_reg_counter_mez;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>DSP<sp/>operation</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>va_char[16]={0,10,50,100,200,300,500,1000,<sp/>0,1,1.8,2.4,3.2,3.8,4.8,6.8};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet=8;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>VA-charky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="comment">//<sp/>system<sp/>state</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[9];<sp/></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="comment">//<sp/>internal<sp/>variables<sp/>of<sp/>PWM<sp/>module</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>smer,<sp/>smer2,<sp/>citac,<sp/>citac2,<sp/>citac_PR,<sp/>modulace;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="comment">//<sp/>internal<sp/>variables<sp/>of<sp/>PMSM<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dIsx,dIsx1,dIsx2,dIsx3,dIsy,dIsy1,dIsy2,dIsy3;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dTheta,dTheta1,dTheta2,dTheta3;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dw,dw1,dw2,dw3;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="comment">//<sp/>system<sp/>measures</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/>Isy,<sp/>theta,<sp/>speed;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="comment">//<sp/>control</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>u[2]={0.,0.};<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>u={Um,<sp/>beta}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>us[2]={0.,0.};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>us={us_alfa,<sp/>us_beta}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="comment">//<sp/>output<sp/>for<sp/>EKF<sp/>(voltages<sp/>and<sp/>measured<sp/>currents,<sp/>which<sp/>are<sp/>fed<sp/>to<sp/>KalmanObs)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>KalmanObs[4]={0.,0.,0.,0.};<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usx,<sp/>usy,<sp/>Isx,<sp/>Isy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight><highlight class="comment">//<sp/>real-time</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>t=0.;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0)</highlight></codeline>
+<codeline lineno="63"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tmp_i;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>simulator<sp/>parameters<sp/>setup</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/>Rs=Rs0;</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/>Ls=Ls0;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/>Fmag=Fmag0;</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/>Bf=Bf0;</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/>p=p0;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/>kp=kp0;</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/>J=J0;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/>Ucn=600.;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/>Uc=Uc0;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/>DT=DT0;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>control<sp/>setup</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/>Urm_max=0.95;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>simulator<sp/>sampling<sp/>-<sp/>fixed<sp/>setup</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/>h=dt0;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/>h_reg=125e-6;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>fpwm<sp/>=<sp/>4kHz</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/>h_reg_counter_mez=(int)(h_reg/h);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>operation<sp/>of<sp/>DSP<sp/>timer</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/>h_reg_counter=h_reg_counter_mez;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/>h_reg_real=h_reg_counter_mez*h;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>real<sp/>sampling<sp/>period</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>reset<sp/>of<sp/>the<sp/>system<sp/>state<sp/>variables</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(tmp_i=0;tmp_i&lt;9;tmp_i++)</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/>x[tmp_i]=0.;</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>the<sp/>first<sp/>measure</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/>Isx=0.;Isy=0.;theta=x[3];speed=x[2];</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight><highlight class="comment">//<sp/>===<sp/>init<sp/>of<sp/>particular<sp/>modules<sp/>of<sp/>simulator<sp/>===</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>PWM<sp/>init</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/>smer=-1;<sp/>smer2=-1;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/>citac=0;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/>citac2=abs(0-(DT/h));</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/>citac_PR=h_reg_counter_mez;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/>modulace=1;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>THIPWM</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(modulace==1)</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/>U_modulace=Ucn/sqrt(3.);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/>U_modulace=Ucn/2.;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>PMSM<sp/>model<sp/>init</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/>dIsx=0;dIsx1=0;dIsx2=0;dIsx3=0;dIsy=0;dIsy1=0;dIsy2=0;dIsy3=0;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/>dTheta=0;dTheta1=0;dTheta2=0;dTheta3=0;</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/>dw=0;dw1=0;dw2=0;dw3=0;</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/>init_regulace(Ls,Fmag,kp,p,h_reg_real);</highlight></codeline>
+<codeline lineno="114"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight><highlight class="comment">//<sp/>mod<sp/>...<sp/>mod=0<sp/>-<sp/>sinusoidal<sp/>PWM;<sp/>mod=1<sp/>-<sp/>PWM<sp/>with<sp/>injected<sp/>3rd<sp/>harmonic</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>beta;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U3;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>up,<sp/>up2;</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/>Um=*u;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/>beta=*(u+1);</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>carrier<sp/>-<sp/>timer</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/>up=((double)citac/citac_PR-0.5)*Ucn;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/>up2=((double)citac2/citac_PR-0.5)*Ucn;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/>iabc[0]=*x;</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/>iabc[1]=(-*x+sqrt(3.)**(x+1))/2.;</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/>iabc[2]=(-*x-sqrt(3.)**(x+1))/2.;</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mod==0)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>sin.<sp/>PWM</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*cos(beta);</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*cos(beta-2./3.*M_PI);</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*cos(beta+2./3.*M_PI);</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>PWM<sp/>with<sp/>injected<sp/>3rd<sp/>harmonic</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/>U3=0.17*cos(3.*beta);</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*(cos(beta)-U3);</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*(cos(beta-2./3.*M_PI)-U3);</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*(cos(beta+2./3.*M_PI)-U3);</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(fabs(iabc[i]));</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementation<sp/>of<sp/>voltage<sp/>drops<sp/>and<sp/>dead-times</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"></highlight><highlight class="comment">//<sp/>phase<sp/>voltages</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/>ua=(2.*ustr[0]-ustr[1]-ustr[2])/3.;</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/>ub=(2.*ustr[1]-ustr[0]-ustr[2])/3.;</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/>uc=(2.*ustr[2]-ustr[0]-ustr[1])/3.;</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"></highlight></codeline>
+<codeline lineno="175"><highlight class="normal"></highlight><highlight class="comment">//<sp/>voltage<sp/>vector<sp/>in<sp/>stationary<sp/>reference<sp/>frame<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>DSP<sp/>timers</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac==citac_PR)||(citac==0))<sp/>smer*=-1;</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac2==citac_PR)||(citac2==0))<sp/>smer2*=-1;</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/>citac+=smer;</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/>citac2+=smer2;</highlight></codeline>
+<codeline lineno="184"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"></highlight></codeline>
+<codeline lineno="186"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I)</highlight></codeline>
+<codeline lineno="187"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii;</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"></highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/>ii=0;</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>((*(va_char+ii)&lt;I)<sp/>&amp;&amp;<sp/>(ii&lt;(pocet-1)))</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/>ii++;</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"></highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==(pocet-1))</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii+pocet);</highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==0)</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=0;</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii-1+pocet)+(I-*(va_char+ii-1))/(*(va_char+ii)-*(va_char+ii-1))*(*(va_char+ii+pocet)-*(va_char+ii-1+pocet));</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
+<codeline lineno="204"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"></highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_model(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"></highlight><highlight class="comment">//<sp/>mod&lt;5...Euler,<sp/>mod&gt;4<sp/>...<sp/>Adams<sp/>of<sp/>4th<sp/>order</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/>usy;</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"></highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/>usx=*us;</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/>usy=*(us+1);</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"></highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/>dIsx=-Rs/Ls*x[0]+Fmag/Ls*x[2]*sin(x[3])+usx/Ls;</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/>dIsy=-Rs/Ls*x[1]-Fmag/Ls*x[2]*cos(x[3])+usy/Ls;</highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/>dTheta=x[2];</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"></highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(J&gt;0)</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=kp*p*p*Fmag/J*(x[1]*cos(x[3])-x[0]*sin(x[3]))-Bf/J*x[2]-p/J*x[8];</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=0;</highlight></codeline>
+<codeline lineno="223"><highlight class="normal"></highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>integration</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mod&lt;5)<sp/><sp/></highlight><highlight class="comment">//<sp/>Euler</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=dIsx*h;</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=dIsy*h;</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=dw*h;</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=dTheta*h;</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Adams<sp/>(4th<sp/>order)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=h/24.*(55.*dIsx-59.*dIsx1+37.*dIsx2-9.*dIsx3);</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=h/24.*(55.*dIsy-59.*dIsy1+37.*dIsy2-9.*dIsy3);</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=h/24.*(55.*dw-59.*dw1+37.*dw2-9.*dw3);</highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=h/24.*(55.*dTheta-59.*dTheta1+37.*dTheta2-9.*dTheta3);</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"></highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>of<sp/>theta<sp/>to<sp/>(-pi,pi)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&gt;M_PI)<sp/>x[3]-=(2*M_PI);</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&lt;-M_PI)<sp/>x[3]+=(2*M_PI);</highlight></codeline>
+<codeline lineno="241"><highlight class="normal"></highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>diff.<sp/>shift<sp/>-<sp/>Adams</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/>dIsx3=dIsx2;dIsx2=dIsx1;dIsx1=dIsx;</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/>dIsy3=dIsy2;dIsy2=dIsy1;dIsy1=dIsy;</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/>dTheta3=dTheta2;dTheta2=dTheta1;dTheta1=dTheta;</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/>dw3=dw2;dw2=dw1;dw1=dw;</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>calculation<sp/>of<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/>x[6]=x[0]*cos(x[3])+x[1]*sin(x[3]);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/>x[7]=x[1]*cos(x[3])-x[0]*sin(x[3]);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="251"><highlight class="normal"></highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Fsd<sp/>...<sp/>d-component<sp/>of<sp/>stator<sp/>flux</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/>x[5]=Ls*x[6]+Fmag;</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"></highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Torque</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/>x[4]=kp*p*Fmag*(x[1]*cos(x[3])-x[0]*sin(x[3]));</highlight></codeline>
+<codeline lineno="257"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"></highlight></codeline>
+<codeline lineno="260"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>eval(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>you<sp/>must<sp/>link<sp/>array<sp/>KalmanObs[]<sp/>to<sp/>EKF<sp/>modul</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="261"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Umk,<sp/>ua,<sp/>ub;</highlight></codeline>
+<codeline lineno="263"><highlight class="normal"></highlight></codeline>
+<codeline lineno="264"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>while<sp/>(t&lt;=t_end)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/><sp/><sp/>pwm(modulace);</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/><sp/><sp/>pmsm_model(5);</highlight></codeline>
+<codeline lineno="268"><highlight class="normal"></highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(h_reg_counter&gt;=h_reg_counter_mez)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pocatek<sp/>ISR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>voltages<sp/>and<sp/>measured<sp/>currents<sp/>for<sp/>EKF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>Umk=*u*Uc/Ucn;</highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ua=Umk*cos(*(u+1));</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ub=Umk*cos(*(u+1)-2./3.*M_PI);</highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[0]=ua;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="276"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[1]=(ua+2.*ub)/sqrt(3.);<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="277"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[2]=Isx;</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[3]=Isy;</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"></highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>vektor_regulace(0,0,Urm_max,Ww,u,Isx,Isy,theta,speed,U_modulace,Uc,Ucn,REZIM_REGULACE);<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=1<sp/>...<sp/>reg.<sp/>rychlosti,<sp/>rezim=0<sp/>...<sp/>reg.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="281"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=2<sp/>...<sp/>Iqw=sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>the<sp/>real<sp/>sampling<sp/>of<sp/>A/D<sp/>converter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="283"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>Isx=x[0];Isy=x[1];speed=x[2];theta=x[3];</highlight></codeline>
+<codeline lineno="284"><highlight class="normal"></highlight></codeline>
+<codeline lineno="285"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>h_reg_counter=0;</highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="287"><highlight class="normal"></highlight></codeline>
+<codeline lineno="288"><highlight class="normal"><sp/><sp/><sp/><sp/>t+=h;</highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/><sp/><sp/>h_reg_counter++;</highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="291"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmpdf.xml
===================================================================
--- /doc/xml/classmpdf.xml (revision 187)
+++ /doc/xml/classmpdf.xml (revision 187)
@@ -0,0 +1,380 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmpdf" kind="class" prot="public">
+    <compoundname>mpdf</compoundname>
+    <derivedcompoundref refid="classmEF" prot="public" virt="non-virtual">mEF</derivedcompoundref>
+    <derivedcompoundref refid="classmepdf" prot="public" virt="non-virtual">mepdf</derivedcompoundref>
+    <derivedcompoundref refid="classmmix" prot="public" virt="non-virtual">mmix</derivedcompoundref>
+    <derivedcompoundref refid="classmprod" prot="public" virt="non-virtual">mprod</derivedcompoundref>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf::mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix::mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void mpdf::condition</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>condition</name>
+        <reimplementedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460">condition</reimplementedby>
+        <reimplementedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97">condition</reimplementedby>
+        <reimplementedby refid="classmmix_11a66629ec5c2b6f4740606cf737f0193">condition</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="195" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="195" bodyend="195"/>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">evalcond</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual mpdf::~mpdf</definition>
+        <argsstring>()</argsstring>
+        <name>~mpdf</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="201" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="201" bodyend="201"/>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mpdf::mpdf</definition>
+        <argsstring>(const RV &amp;rv0, const RV &amp;rvc0)</argsstring>
+        <name>mpdf</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvc0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="204" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="204" bodyend="204"/>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">ep</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Conditional probability density, e.g. modeling some dependencies. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1241">
+        <label>mprod</label>
+        <link refid="classmprod"/>
+        <childnode refid="1234" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1236">
+        <label>mgamma</label>
+        <link refid="classmgamma"/>
+        <childnode refid="1235" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1234">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+      <node id="1238">
+        <label>mlnorm&lt; sq_T &gt;</label>
+        <link refid="classmlnorm"/>
+        <childnode refid="1235" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1239">
+        <label>mepdf</label>
+        <link refid="classmepdf"/>
+        <childnode refid="1234" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1235">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1234" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1237">
+        <label>mgamma_fix</label>
+        <link refid="classmgamma__fix"/>
+        <childnode refid="1236" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1240">
+        <label>mmix</label>
+        <link refid="classmmix"/>
+        <childnode refid="1234" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1244">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1243" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1243">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1242">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1243" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1244" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="171" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="171" bodyend="211"/>
+    <listofallmembers>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mpdf</scope><name>_epdf</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mpdf</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mpdf</scope><name>_rvc</name></member>
+      <member refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" virt="virtual"><scope>mpdf</scope><name>condition</name></member>
+      <member refid="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" virt="non-virtual"><scope>mpdf</scope><name>ep</name></member>
+      <member refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" virt="virtual"><scope>mpdf</scope><name>evalcond</name></member>
+      <member refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" virt="non-virtual"><scope>mpdf</scope><name>mpdf</name></member>
+      <member refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" virt="non-virtual"><scope>mpdf</scope><name>rv</name></member>
+      <member refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" virt="non-virtual"><scope>mpdf</scope><name>rvc</name></member>
+      <member refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" virt="virtual"><scope>mpdf</scope><name>samplecond</name></member>
+      <member refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" virt="virtual"><scope>mpdf</scope><name>samplecond</name></member>
+      <member refid="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" virt="virtual"><scope>mpdf</scope><name>~mpdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_9c0bd99393692affed99ff90b134972b.xml
===================================================================
--- /doc/xml/dir_9c0bd99393692affed99ff90b134972b.xml (revision 187)
+++ /doc/xml/dir_9c0bd99393692affed99ff90b134972b.xml (revision 187)
@@ -0,0 +1,13 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_9c0bd99393692affed99ff90b134972b" kind="dir">
+    <compoundname>work/git/mixpp/CMakeFiles/</compoundname>
+    <innerdir refid="dir_d5bf21eca1580660a94997ef7922cb8a">work/git/mixpp/CMakeFiles/CompilerIdC/</innerdir>
+    <innerdir refid="dir_19ad229042f3fa33912d5612a70e53b3">work/git/mixpp/CMakeFiles/CompilerIdCXX/</innerdir>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/CMakeFiles/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_8e47ce623716286b3fce3a2429b4cd4a.xml
===================================================================
--- /doc/xml/dir_8e47ce623716286b3fce3a2429b4cd4a.xml (revision 187)
+++ /doc/xml/dir_8e47ce623716286b3fce3a2429b4cd4a.xml (revision 187)
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_8e47ce623716286b3fce3a2429b4cd4a" kind="dir">
+    <compoundname>work/mixpp/pmsm/simulator_zdenek/demo_example/</compoundname>
+    <innerdir refid="dir_0134fa0f637ecd0cba8ffb696b394d60">work/mixpp/pmsm/simulator_zdenek/demo_example/data/</innerdir>
+    <innerfile refid="demo__example_2nastaveni__regulatoru__float_8h">nastaveni_regulatoru_float.h</innerfile>
+    <innerfile refid="demo__example_2regulace_8h">regulace.h</innerfile>
+    <innerfile refid="demo__example_2simulator_8cpp">simulator.cpp</innerfile>
+    <innerfile refid="demo__example_2simulator_8h">simulator.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/pmsm/simulator_zdenek/demo_example/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libEF_8h.xml
===================================================================
--- /doc/xml/libEF_8h.xml (revision 187)
+++ /doc/xml/libEF_8h.xml (revision 187)
@@ -0,0 +1,539 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libEF_8h" kind="file">
+    <compoundname>libEF.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libDC_8h" local="yes">../math/libDC.h</includes>
+    <includes refid="libBM_8h" local="yes">libBM.h</includes>
+    <includes refid="itpp__ext_8h" local="yes">../itpp_ext.h</includes>
+    <includedby refid="arx_8h" local="yes">work/git/mixpp/bdm/estim/arx.h</includedby>
+    <includedby refid="libKF_8h" local="yes">work/git/mixpp/bdm/estim/libKF.h</includedby>
+    <includedby refid="libPF_8h" local="yes">work/git/mixpp/bdm/estim/libPF.h</includedby>
+    <includedby refid="emix_8h" local="yes">work/git/mixpp/bdm/stat/emix.h</includedby>
+    <includedby refid="libEF_8cpp" local="yes">work/git/mixpp/bdm/stat/libEF.cpp</includedby>
+    <includedby refid="merger_8h" local="yes">work/git/mixpp/bdm/stat/merger.h</includedby>
+    <includedby refid="merg__pred_8cpp" local="no">work/git/mixpp/mpdm/merg_pred.cpp</includedby>
+    <includedby refid="arx__test_8cpp" local="no">work/git/mixpp/tests/arx_test.cpp</includedby>
+    <includedby refid="merger__test_8cpp" local="no">work/git/mixpp/tests/merger_test.cpp</includedby>
+    <includedby refid="testEpdf_8cpp" local="no">work/git/mixpp/tests/testEpdf.cpp</includedby>
+    <includedby refid="testPF_8cpp" local="no">work/git/mixpp/tests/testPF.cpp</includedby>
+    <includedby refid="testResample_8cpp" local="no">work/git/mixpp/tests/testResample.cpp</includedby>
+    <includedby refid="testSmp_8cpp" local="no">work/git/mixpp/tests/testSmp.cpp</includedby>
+    <incdepgraph>
+      <node id="394">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="392" relation="include">
+        </childnode>
+      </node>
+      <node id="395">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="392" relation="include">
+        </childnode>
+      </node>
+      <node id="391">
+        <label>work/git/mixpp/bdm/stat/libEF.h</label>
+        <link refid="libEF.h"/>
+        <childnode refid="392" relation="include">
+        </childnode>
+        <childnode refid="393" relation="include">
+        </childnode>
+        <childnode refid="394" relation="include">
+        </childnode>
+        <childnode refid="395" relation="include">
+        </childnode>
+      </node>
+      <node id="392">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="393">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="392" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="406">
+        <label>work/git/mixpp/bdm/stat/merger.h</label>
+        <link refid="merger_8h"/>
+      </node>
+      <node id="405">
+        <label>work/git/mixpp/bdm/stat/emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="406" relation="include">
+        </childnode>
+        <childnode refid="401" relation="include">
+        </childnode>
+      </node>
+      <node id="400">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="401" relation="include">
+        </childnode>
+      </node>
+      <node id="396">
+        <label>work/git/mixpp/bdm/stat/libEF.h</label>
+        <link refid="libEF.h"/>
+        <childnode refid="397" relation="include">
+        </childnode>
+        <childnode refid="399" relation="include">
+        </childnode>
+        <childnode refid="404" relation="include">
+        </childnode>
+        <childnode refid="405" relation="include">
+        </childnode>
+        <childnode refid="406" relation="include">
+        </childnode>
+      </node>
+      <node id="404">
+        <label>work/git/mixpp/bdm/estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="401" relation="include">
+        </childnode>
+      </node>
+      <node id="397">
+        <label>work/git/mixpp/bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="398" relation="include">
+        </childnode>
+      </node>
+      <node id="398">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim__var__arx_8cpp"/>
+      </node>
+      <node id="402">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="399">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="400" relation="include">
+        </childnode>
+        <childnode refid="402" relation="include">
+        </childnode>
+        <childnode refid="403" relation="include">
+        </childnode>
+      </node>
+      <node id="403">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+      <node id="401">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classeEF" prot="public">eEF</innerclass>
+    <innerclass refid="classmEF" prot="public">mEF</innerclass>
+    <innerclass refid="classenorm" prot="public">enorm</innerclass>
+    <innerclass refid="classegiw" prot="public">egiw</innerclass>
+    <innerclass refid="classegamma" prot="public">egamma</innerclass>
+    <innerclass refid="classeuni" prot="public">euni</innerclass>
+    <innerclass refid="classmlnorm" prot="public">mlnorm</innerclass>
+    <innerclass refid="classmgamma" prot="public">mgamma</innerclass>
+    <innerclass refid="classmgamma__fix" prot="public">mgamma_fix</innerclass>
+    <innerclass refid="classeEmp" prot="public">eEmp</innerclass>
+      <sectiondef kind="enum">
+      <memberdef kind="enum" id="libEF_8h_199497a3ff630f761cf6bff7babd23212" prot="public" static="no">
+        <name>RESAMPLING_METHOD</name>
+        <enumvalue id="libEF_8h_199497a3ff630f761cf6bff7babd2321214208a39f9e86f55ce751ee7b5eb3e42" prot="public">
+          <name>MULTINOMIAL</name>
+          <initializer> 0</initializer>
+          <briefdescription>
+          </briefdescription>
+          <detaileddescription>
+          </detaileddescription>
+        </enumvalue>
+        <enumvalue id="libEF_8h_199497a3ff630f761cf6bff7babd2321219c32847f57702dd84a920075b90b2d7" prot="public">
+          <name>STRATIFIED</name>
+          <initializer> 1</initializer>
+          <briefdescription>
+          </briefdescription>
+          <detaileddescription>
+          </detaileddescription>
+        </enumvalue>
+        <enumvalue id="libEF_8h_199497a3ff630f761cf6bff7babd23212a792a4f45646dddc20d6b942ac7e7a71" prot="public">
+          <name>SYSTEMATIC</name>
+          <initializer> 3</initializer>
+          <briefdescription>
+          </briefdescription>
+          <detaileddescription>
+          </detaileddescription>
+        </enumvalue>
+        <briefdescription>
+<para>Switch between various resampling methods. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="305" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="305" bodyend="305"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="libEF_8h_12ae7dcdfebede774dd1b1f16cad10dd9" prot="public" static="no" mutable="no">
+        <type>Uniform_RNG</type>
+        <definition>Uniform_RNG UniRNG</definition>
+        <argsstring></argsstring>
+        <name>UniRNG</name>
+        <briefdescription>
+<para>Global Uniform_RNG. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="26" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="8" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="libEF_8h_1395c5925c8792aef3be4c360e91526c0" prot="public" static="no" mutable="no">
+        <type>Normal_RNG</type>
+        <definition>Normal_RNG NorRNG</definition>
+        <argsstring></argsstring>
+        <name>NorRNG</name>
+        <briefdescription>
+<para>Global Normal_RNG. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="28" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="9" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="libEF_8h_1884a8348c92a49725b78e2b6ab0bb802" prot="public" static="no" mutable="no">
+        <type><ref refid="classitpp_1_1Gamma__RNG" kindref="compound">Gamma_RNG</ref></type>
+        <definition>Gamma_RNG GamRNG</definition>
+        <argsstring></argsstring>
+        <name>GamRNG</name>
+        <briefdescription>
+<para>Global Gamma_RNG. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Probability distributions for Exponential Family models. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>EF_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>EF_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../math/libDC.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libBM_8h" kindref="compound" tooltip="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../itpp_ext.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="comment">//#include<sp/>&lt;std&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="keyword">extern</highlight><highlight class="normal"><sp/>Uniform_RNG<sp/>UniRNG;</highlight></codeline>
+<codeline lineno="28"><highlight class="keyword">extern</highlight><highlight class="normal"><sp/>Normal_RNG<sp/>NorRNG;</highlight></codeline>
+<codeline lineno="30"><highlight class="keyword">extern</highlight><highlight class="normal"><sp/><ref refid="classitpp_1_1Gamma__RNG" kindref="compound" tooltip="Gamma distribution.">Gamma_RNG</ref><sp/>GamRNG;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38" refid="classeEF" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classeEF" kindref="compound" tooltip="General conjugate exponential family posterior density.">eEF</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>eEF()<sp/>:epdf()<sp/>{};</highlight></codeline>
+<codeline lineno="42" refid="classeEF_17e3c63655e8375c76bf1f421245427a7" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEF_17e3c63655e8375c76bf1f421245427a7" kindref="member" tooltip="default constructor">eEF</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>)<sp/>:<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>(<sp/>rv<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classeEF_169e5680dac10375d62520d26c672477d" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>()</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="46" refid="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" kindref="member" tooltip="TODO decide if it is really needed.">tupdate</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>phi,<sp/>mat<sp/>&amp;vbar,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nubar<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="48" refid="classeEF_15863718c3b2fb1496dece10c5b745d5c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classeEF_15863718c3b2fb1496dece10c5b745d5c" kindref="member" tooltip="TODO decide if it is really needed.">dupdate</ref><sp/>(<sp/>mat<sp/>&amp;v,</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu=1.0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="49"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57" refid="classmEF" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmEF" kindref="compound" tooltip="Exponential family model.">mEF</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="61" refid="classmEF_18bf51fe8654d7b83c8c8afeb19409d4f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmEF_18bf51fe8654d7b83c8c8afeb19409d4f" kindref="member" tooltip="Default constructor.">mEF</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvc0<sp/>)<sp/>:<ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>(<sp/>rv0,rvc0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="62"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71" refid="classenorm" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classeEF" kindref="compound" tooltip="General conjugate exponential family posterior density.">eEF</ref><sp/>{</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="74" refid="classenorm_171fde0d54bba147e00f612577f95ad20" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>;</highlight></codeline>
+<codeline lineno="76" refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/><ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>;</highlight></codeline>
+<codeline lineno="78" refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" kindref="member" tooltip="dimension (redundant from rv.count() for easier coding )">dim</ref>;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>enorm()<sp/>:eEF()<sp/>{};</highlight></codeline>
+<codeline lineno="82"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm_17b5cb487a2570e8109bfdc0df149aa06" kindref="member" tooltip="Default constructor.">enorm</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classenorm_11394a65caa6e00d42e00cc99b12227af" kindref="member" tooltip="Set mean value mu and covariance R.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;<ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;<ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref><sp/>);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classenorm_15b5fd142b6b17ea334597960e3fe126a" kindref="member" tooltip="tupdate in exponential form (not really handy)">tupdate</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>phi,<sp/>mat<sp/>&amp;vbar,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nubar<sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2" kindref="member" tooltip="dupdate in exponential form (not really handy)">dupdate</ref><sp/>(<sp/>mat<sp/>&amp;v,</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu=1.0<sp/>);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>N<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0" kindref="member" tooltip="Compute probability of argument val.">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref><sp/>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="96" refid="classenorm_150fa84da7bae02f7af17a98f37566899" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classenorm_150fa84da7bae02f7af17a98f37566899" kindref="member" tooltip="return expected value">mean</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>;}</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight><highlight class="comment">//Access<sp/>methods</highlight></codeline>
+<codeline lineno="100" refid="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec&amp;<sp/><ref refid="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" kindref="member" tooltip="returns a pointer to the internal mean value. Use with Care!">_mu</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>;}</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="103" refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" kindref="member" tooltip="access function">set_mu</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>mu0)<sp/>{<sp/><ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>=mu0;}</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="106" refid="classenorm_17a5034b25771a84450a990d10fc40ac9" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T&amp;<sp/><ref refid="classenorm_17a5034b25771a84450a990d10fc40ac9" kindref="member" tooltip="returns pointers to the internal variance and its inverse. Use with Care!">_R</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>;}</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109" refid="classenorm_19b9f58dc86affa23511c246887420658" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classenorm_19b9f58dc86affa23511c246887420658" kindref="member" tooltip="access method">getR</ref><sp/>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>.to_mat();}</highlight></codeline>
+<codeline lineno="110"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117" refid="classegiw" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classeEF" kindref="compound" tooltip="General conjugate exponential family posterior density.">eEF</ref><sp/>{</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="120" refid="classegiw_1f343d03ede89db820edf44a6297fa442" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>;</highlight></codeline>
+<codeline lineno="122" refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref>;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="125" refid="classegiw_1c52a2173c6eb1490edce9c6c7c05d60b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classegiw_1c52a2173c6eb1490edce9c6c7c05d60b" kindref="member" tooltip="Default constructor.">egiw</ref>(<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>,<sp/>mat<sp/>V0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0):<sp/><ref refid="classeEF" kindref="compound" tooltip="General conjugate exponential family posterior density.">eEF</ref>(rv),<sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>(V0),<sp/><ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref>(nu0)<sp/>{</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(rv.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()==<ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>.<ref refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" kindref="member" tooltip="access function">rows</ref>(),</highlight><highlight class="stringliteral">&quot;Incompatible<sp/>V0.&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" kindref="member" tooltip="return expected value">mean</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegiw_1425cbc53b377274e28c6add942bab62d" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref><sp/>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Access</highlight></codeline>
+<codeline lineno="136" refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/><ref refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_V</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>;}</highlight></codeline>
+<codeline lineno="138" refid="classegiw_108029c481ff95d24f093df0573879afe" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal">&amp;<sp/><ref refid="classegiw_108029c481ff95d24f093df0573879afe" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_nu</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref>;}</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="151" refid="classegamma" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classegamma" kindref="compound" tooltip="Gamma posterior density.">egamma</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classeEF" kindref="compound" tooltip="General conjugate exponential family posterior density.">eEF</ref><sp/>{</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="154" refid="classegamma_1376cebd8932546c440f21b182910b01b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref>;</highlight></codeline>
+<codeline lineno="156" refid="classegamma_1cfc5f136467488a421ab22f886323790" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classegamma_1cfc5f136467488a421ab22f886323790" kindref="member" tooltip="Vector .">beta</ref>;</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/>:</highlight></codeline>
+<codeline lineno="159" refid="classegamma_14b1d34f3b244ea51a58ec10c468788c1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classegamma_14b1d34f3b244ea51a58ec10c468788c1" kindref="member" tooltip="Default constructor.">egamma</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>)<sp/>:<ref refid="classeEF" kindref="compound" tooltip="General conjugate exponential family posterior density.">eEF</ref><sp/>(<sp/>rv<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="161" refid="classegamma_18e348b89be82b70471fe8c5630f61339" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classegamma_18e348b89be82b70471fe8c5630f61339" kindref="member" tooltip="Sets parameters.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;a,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;b<sp/>)<sp/>{<ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref>=a,<ref refid="classegamma_1cfc5f136467488a421ab22f886323790" kindref="member" tooltip="Vector .">beta</ref>=b;};</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="164"><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>sample<sp/>(<sp/>int<sp/>N<sp/>)<sp/>const;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" kindref="member" tooltip="TODO: is it used anywhere?">evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref><sp/>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="168" refid="classegamma_144445c56e60b91b377f207f8d5089790" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classegamma_144445c56e60b91b377f207f8d5089790" kindref="member" tooltip="Returns poiter to alpha and beta. Potentially dengerous: use with care!">_param</ref><sp/>(<sp/>vec*<sp/>&amp;a,<sp/>vec*<sp/>&amp;b<sp/>)<sp/>{a=&amp;<ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref>;b=&amp;<ref refid="classegamma_1cfc5f136467488a421ab22f886323790" kindref="member" tooltip="Vector .">beta</ref>;};</highlight></codeline>
+<codeline lineno="169" refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a" kindref="member" tooltip="return expected value">mean</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{vec<sp/>pom<sp/>(<sp/><ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref><sp/>);<sp/>pom/=<ref refid="classegamma_1cfc5f136467488a421ab22f886323790" kindref="member" tooltip="Vector .">beta</ref>;<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pom;}</highlight></codeline>
+<codeline lineno="170"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="173"><highlight class="comment">class<sp/>emix<sp/>:<sp/>public<sp/>epdf<sp/>{</highlight></codeline>
+<codeline lineno="174"><highlight class="comment">protected:</highlight></codeline>
+<codeline lineno="175"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>int<sp/>n;</highlight></codeline>
+<codeline lineno="176"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>&amp;w;</highlight></codeline>
+<codeline lineno="177"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;epdf*&gt;<sp/>Coms;</highlight></codeline>
+<codeline lineno="178"><highlight class="comment">public:</highlight></codeline>
+<codeline lineno="180"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>emix<sp/>(<sp/>const<sp/>RV<sp/>&amp;rv,<sp/>vec<sp/>&amp;w0):<sp/>epdf(rv),<sp/>n(w0.length()),<sp/>w(w0),<sp/>Coms(n)<sp/>{};</highlight></codeline>
+<codeline lineno="181"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>void<sp/>set_parameters(<sp/>int<sp/>&amp;i,<sp/>double<sp/>wi,<sp/>epdf*<sp/>ep){w(i)=wi;Coms(i)=ep;}</highlight></codeline>
+<codeline lineno="182"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mean(){vec<sp/>pom;<sp/>for(int<sp/>i=0;i&lt;n;i++){pom+=Coms(i)-&gt;mean()*w(i);}<sp/>return<sp/>pom;};</highlight></codeline>
+<codeline lineno="183"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>sample()<sp/>{it_error<sp/>(<sp/>&quot;Not<sp/>implemented&quot;<sp/>);return<sp/>0;}</highlight></codeline>
+<codeline lineno="184"><highlight class="comment">};</highlight></codeline>
+<codeline lineno="185"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="186"><highlight class="normal"></highlight></codeline>
+<codeline lineno="188"><highlight class="normal"></highlight></codeline>
+<codeline lineno="189" refid="classeuni" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classeuni" kindref="compound" tooltip="Uniform distributed density on a rectangular support.">euni</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="192" refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" kindref="member" tooltip="lower bound on support">low</ref>;</highlight></codeline>
+<codeline lineno="194" refid="classeuni_171b6d6b41aeb61a7f76f682b72119231" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeuni_171b6d6b41aeb61a7f76f682b72119231" kindref="member" tooltip="upper bound on support">high</ref>;</highlight></codeline>
+<codeline lineno="196" refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" kindref="member" tooltip="internal">distance</ref>;</highlight></codeline>
+<codeline lineno="198" refid="classeuni_163105490e946e43372d6187ad1bafdda" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classeuni_163105490e946e43372d6187ad1bafdda" kindref="member" tooltip="normalizing coefficients">nk</ref>;</highlight></codeline>
+<codeline lineno="200" refid="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" kindref="member" tooltip="cache of log( nk )">lnk</ref>;</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="203" refid="classeuni_12537a6c239cff52e3ba814851a1116cd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni_12537a6c239cff52e3ba814851a1116cd" kindref="member" tooltip="Defualt constructor.">euni</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>)<sp/>:<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>(<sp/>rv<sp/>)<sp/>{}</highlight></codeline>
+<codeline lineno="204" refid="classeuni_12723d4992900b5c5495bfa03628195ed" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classeuni_12723d4992900b5c5495bfa03628195ed" kindref="member" tooltip="Compute probability of argument val.">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/><sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classeuni_163105490e946e43372d6187ad1bafdda" kindref="member" tooltip="normalizing coefficients">nk</ref>;}</highlight></codeline>
+<codeline lineno="205" refid="classeuni_106af95d514a6623ad4688bd2ad50ad71" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classeuni_106af95d514a6623ad4688bd2ad50ad71" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/><sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" kindref="member" tooltip="cache of log( nk )">lnk</ref>;}</highlight></codeline>
+<codeline lineno="206" refid="classeuni_14a0e09392be17beaee120ba98fc038cd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeuni_14a0e09392be17beaee120ba98fc038cd" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>smp<sp/>(<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="208"><highlight class="normal"></highlight><highlight class="preprocessor"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>#pragma<sp/>omp<sp/>critical</highlight></codeline>
+<codeline lineno="209"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>UniRNG.sample_vector<sp/>(<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>(),smp<sp/>);</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" kindref="member" tooltip="lower bound on support">low</ref>+elem_mult(<ref refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" kindref="member" tooltip="internal">distance</ref>,smp);</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="213" refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classeuni_14fd7c6a05100616ad16ece405cad7bf2" kindref="member" tooltip="set values of low and high ">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;low0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;high0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" kindref="member" tooltip="internal">distance</ref><sp/>=<sp/>high0-low0;</highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>min<sp/>(<sp/><ref refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" kindref="member" tooltip="internal">distance</ref><sp/>)<sp/>&gt;0.0,</highlight><highlight class="stringliteral">&quot;bad<sp/>support&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" kindref="member" tooltip="lower bound on support">low</ref><sp/>=<sp/>low0;</highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni_171b6d6b41aeb61a7f76f682b72119231" kindref="member" tooltip="upper bound on support">high</ref><sp/>=<sp/>high0;</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni_163105490e946e43372d6187ad1bafdda" kindref="member" tooltip="normalizing coefficients">nk</ref><sp/>=<sp/>prod<sp/>(<sp/>1.0/<ref refid="classeuni_152a6ff4a54010f88a6a19fca605c64a4" kindref="member" tooltip="internal">distance</ref><sp/>);</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni_1f445a0ce24f39d14c1a4eed53fc8e2c3" kindref="member" tooltip="cache of log( nk )">lnk</ref><sp/>=<sp/>log<sp/>(<sp/><ref refid="classeuni_163105490e946e43372d6187ad1bafdda" kindref="member" tooltip="normalizing coefficients">nk</ref><sp/>);</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="221" refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1" kindref="member" tooltip="return expected value">mean</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{vec<sp/>pom=<ref refid="classeuni_171b6d6b41aeb61a7f76f682b72119231" kindref="member" tooltip="upper bound on support">high</ref>;<sp/>pom-=<ref refid="classeuni_1ef42cd8d7645422048d46c46ec5cdac1" kindref="member" tooltip="lower bound on support">low</ref>;<sp/>pom/=2.0;<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pom;}</highlight></codeline>
+<codeline lineno="222"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="223"><highlight class="normal"></highlight></codeline>
+<codeline lineno="224"><highlight class="normal"></highlight></codeline>
+<codeline lineno="230"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="231" refid="classmlnorm" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmlnorm" kindref="compound" tooltip="Normal distributed linear function with linear function of mean value;.">mlnorm</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmEF" kindref="compound" tooltip="Exponential family model.">mEF</ref><sp/>{</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm&lt;sq_T&gt;</ref><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>;</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A;</highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec&amp;<sp/>_mu;<sp/></highlight><highlight class="comment">//cached<sp/>epdf.mu;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="236"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" kindref="member" tooltip="Constructor.">mlnorm</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref><sp/>);</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" kindref="member" tooltip="Set A and R.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>mat<sp/>&amp;A,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;R<sp/>);</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" kindref="member" tooltip="Generate one sample of the posterior.">samplecond</ref><sp/>(<sp/>vec<sp/>&amp;cond,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;lik<sp/>);</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" kindref="member" tooltip="Generate one sample of the posterior.">samplecond</ref><sp/>(<sp/>vec<sp/>&amp;cond,<sp/>vec<sp/>&amp;lik,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n<sp/>);</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" kindref="member" tooltip="Set value of rvc . Result of this operation is stored in epdf use function _ep to...">condition</ref><sp/>(<sp/>vec<sp/>&amp;cond<sp/>);</highlight></codeline>
+<codeline lineno="247"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="248"><highlight class="normal"></highlight></codeline>
+<codeline lineno="258" refid="classmgamma" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmEF" kindref="compound" tooltip="Exponential family model.">mEF</ref><sp/>{</highlight></codeline>
+<codeline lineno="259"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="261" refid="classmgamma_1612dbf35c770a780027619aaac2c443e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classegamma" kindref="compound" tooltip="Gamma posterior density.">egamma</ref><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>;</highlight></codeline>
+<codeline lineno="263" refid="classmgamma_143f733cce0245a52363d566099add687" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classmgamma_143f733cce0245a52363d566099add687" kindref="member" tooltip="Constant .">k</ref>;</highlight></codeline>
+<codeline lineno="265" refid="classmgamma_15e90652837448bcc29707e7412f99691" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec*<sp/><ref refid="classmgamma_15e90652837448bcc29707e7412f99691" kindref="member" tooltip="cache of epdf.beta">_beta</ref>;</highlight></codeline>
+<codeline lineno="266"><highlight class="normal"></highlight></codeline>
+<codeline lineno="267"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" kindref="member" tooltip="Constructor.">mgamma</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref><sp/>);</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" kindref="member" tooltip="Set value of k.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classmgamma_143f733cce0245a52363d566099add687" kindref="member" tooltip="Constant .">k</ref><sp/>);</highlight></codeline>
+<codeline lineno="272" refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" kindref="member" tooltip="Update ep so that it represents this mpdf conditioned on rvc = cond.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/>{*<ref refid="classmgamma_15e90652837448bcc29707e7412f99691" kindref="member" tooltip="cache of epdf.beta">_beta</ref>=<ref refid="classmgamma_143f733cce0245a52363d566099add687" kindref="member" tooltip="Constant .">k</ref>/val;};</highlight></codeline>
+<codeline lineno="273"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"></highlight></codeline>
+<codeline lineno="286" refid="classmgamma__fix" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmgamma__fix" kindref="compound" tooltip="Gamma random walk around a fixed point.">mgamma_fix</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>{</highlight></codeline>
+<codeline lineno="287"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="289" refid="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" kindref="member" tooltip="parameter l">l</ref>;</highlight></codeline>
+<codeline lineno="291" refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" kindref="member" tooltip="reference vector">refl</ref>;</highlight></codeline>
+<codeline lineno="292"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="294" refid="classmgamma__fix_1b92c3d2e5fd0381033a072e5ef3bcf80" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma__fix_1b92c3d2e5fd0381033a072e5ef3bcf80" kindref="member" tooltip="Constructor.">mgamma_fix</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref><sp/>)<sp/>:<sp/><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>(<sp/>rv,rvc<sp/>),<ref refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" kindref="member" tooltip="reference vector">refl</ref><sp/>(<sp/>rv.count()<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="296" refid="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" kindref="member" tooltip="Set value of k.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>k0<sp/>,<sp/>vec<sp/>ref0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>l0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="297"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" kindref="member" tooltip="Set value of k.">mgamma::set_parameters</ref><sp/>(<sp/>k0<sp/>);</highlight></codeline>
+<codeline lineno="298"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" kindref="member" tooltip="reference vector">refl</ref>=pow<sp/>(<sp/>ref0,1.0-l0<sp/>);<ref refid="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" kindref="member" tooltip="parameter l">l</ref>=l0;</highlight></codeline>
+<codeline lineno="299"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="300"><highlight class="normal"></highlight></codeline>
+<codeline lineno="301" refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" kindref="member" tooltip="Update ep so that it represents this mpdf conditioned on rvc = cond.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/>{vec<sp/>mean=elem_mult<sp/>(<sp/><ref refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" kindref="member" tooltip="reference vector">refl</ref>,pow<sp/>(<sp/>val,<ref refid="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" kindref="member" tooltip="parameter l">l</ref><sp/>)<sp/>);<sp/>*<ref refid="classmgamma_15e90652837448bcc29707e7412f99691" kindref="member" tooltip="cache of epdf.beta">_beta</ref>=<ref refid="classmgamma_143f733cce0245a52363d566099add687" kindref="member" tooltip="Constant .">k</ref>/mean;};</highlight></codeline>
+<codeline lineno="302"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="303"><highlight class="normal"></highlight></codeline>
+<codeline lineno="305" refid="libEF_8h_199497a3ff630f761cf6bff7babd23212" refkind="member"><highlight class="keyword">enum</highlight><highlight class="normal"><sp/><ref refid="libEF_8h_199497a3ff630f761cf6bff7babd23212" kindref="member" tooltip="Switch between various resampling methods.">RESAMPLING_METHOD</ref><sp/>{<sp/>MULTINOMIAL<sp/>=<sp/>0,<sp/>STRATIFIED<sp/>=<sp/>1,<sp/>SYSTEMATIC<sp/>=<sp/>3<sp/>};</highlight></codeline>
+<codeline lineno="311" refid="classeEmp" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classeEmp" kindref="compound" tooltip="Weighted empirical density.">eEmp</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="312"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal"><sp/>:</highlight></codeline>
+<codeline lineno="314" refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref>;</highlight></codeline>
+<codeline lineno="316" refid="classeEmp_1ae78d144404ddba843c93b171b215de8" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref>;</highlight></codeline>
+<codeline lineno="318" refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;vec&gt;<sp/><ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref>;</highlight></codeline>
+<codeline lineno="319"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="321" refid="classeEmp_10c04b073ecd0dae3d498e680ae27e9e4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp_10c04b073ecd0dae3d498e680ae27e9e4" kindref="member" tooltip="Default constructor.">eEmp</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0<sp/>,</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n0<sp/>)<sp/>:<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>(<sp/>rv0<sp/>),<ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>(<sp/>n0<sp/>),<ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref><sp/>(<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>),<ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref><sp/>(<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="323"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" kindref="member" tooltip="Set sample.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;w0,<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>*<sp/>pdf0<sp/>);</highlight></codeline>
+<codeline lineno="325" refid="classeEmp_131b2bfb73b72486a5c89f2ab850c7a9b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec&amp;<sp/><ref refid="classeEmp_131b2bfb73b72486a5c89f2ab850c7a9b" kindref="member" tooltip="Potentially dangerous, use with care.">_w</ref>()<sp/><sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref>;};</highlight></codeline>
+<codeline lineno="327" refid="classeEmp_131b747eca73b16f30370827ba4cc3575" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;vec&gt;&amp;<sp/><ref refid="classeEmp_131b747eca73b16f30370827ba4cc3575" kindref="member" tooltip="access function">_samples</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref>;};</highlight></codeline>
+<codeline lineno="329"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" kindref="member" tooltip="Function performs resampling, i.e. removal of low-weight samples and duplication...">resample</ref><sp/>(<sp/><ref refid="libEF_8h_199497a3ff630f761cf6bff7babd23212" kindref="member" tooltip="Switch between various resampling methods.">RESAMPLING_METHOD</ref><sp/>method<sp/>=<sp/>SYSTEMATIC<sp/>);</highlight></codeline>
+<codeline lineno="331" refid="classeEmp_183f9283f92b805508d896479dc1ccf12" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeEmp_183f9283f92b805508d896479dc1ccf12" kindref="member" tooltip="inherited operation : NOT implemneted">sample</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;}</highlight></codeline>
+<codeline lineno="333" refid="classeEmp_123e7358995400865ad2e278945922fb3" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classeEmp_123e7358995400865ad2e278945922fb3" kindref="member" tooltip="inherited operation : NOT implemneted">evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0.0;}</highlight></codeline>
+<codeline lineno="334" refid="classeEmp_1ba055c19038cc72628d98e25197e982d" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classeEmp_1ba055c19038cc72628d98e25197e982d" kindref="member" tooltip="return expected value">mean</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="335"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom=zeros<sp/>(<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="336"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;<ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref>;i++<sp/>)<sp/>{pom+=<ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref><sp/>(<sp/>i<sp/>)<sp/>*<ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref><sp/>(<sp/>i<sp/>);}</highlight></codeline>
+<codeline lineno="337"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>pom;</highlight></codeline>
+<codeline lineno="338"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="339"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="340"><highlight class="normal"></highlight></codeline>
+<codeline lineno="341"><highlight class="normal"></highlight></codeline>
+<codeline lineno="343"><highlight class="normal"></highlight></codeline>
+<codeline lineno="344"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="345" refid="classenorm_17b5cb487a2570e8109bfdc0df149aa06" refkind="member"><highlight class="normal"><ref refid="classenorm_17b5cb487a2570e8109bfdc0df149aa06" kindref="member" tooltip="Default constructor.">enorm&lt;sq_T&gt;::enorm</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv<sp/>)<sp/>:<ref refid="classeEF" kindref="compound" tooltip="General conjugate exponential family posterior density.">eEF</ref><sp/>(<sp/>rv<sp/>),<sp/>mu<sp/>(<sp/>rv.count()<sp/>),R<sp/>(<sp/>rv.count()<sp/>),dim<sp/>(<sp/>rv.count()<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="346"><highlight class="normal"></highlight></codeline>
+<codeline lineno="347"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="348" refid="classenorm_11394a65caa6e00d42e00cc99b12227af" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classenorm_11394a65caa6e00d42e00cc99b12227af" kindref="member" tooltip="Set mean value mu and covariance R.">enorm&lt;sq_T&gt;::set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;mu0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;R0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="349"><highlight class="normal"></highlight><highlight class="comment">//Fixme<sp/>test<sp/>dimensions<sp/>of<sp/>mu0<sp/>and<sp/>R0;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="350"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref><sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="351"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref><sp/>=<sp/>R0;</highlight></codeline>
+<codeline lineno="352"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="353"><highlight class="normal"></highlight></codeline>
+<codeline lineno="354"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="355" refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2" kindref="member" tooltip="dupdate in exponential form (not really handy)">enorm&lt;sq_T&gt;::dupdate</ref><sp/>(<sp/>mat<sp/>&amp;v,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="356"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="357"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="358"><highlight class="normal"></highlight></codeline>
+<codeline lineno="359"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="360" refid="classenorm_15b5fd142b6b17ea334597960e3fe126a" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classenorm_15b5fd142b6b17ea334597960e3fe126a" kindref="member" tooltip="tupdate in exponential form (not really handy)">enorm&lt;sq_T&gt;::tupdate</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>phi,<sp/>mat<sp/>&amp;vbar,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nubar<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="361"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="362"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="363"><highlight class="normal"></highlight></codeline>
+<codeline lineno="364"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="365" refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" refkind="member"><highlight class="normal">vec<sp/><ref refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" kindref="member" tooltip="Returns the required moment of the epdf.">enorm&lt;sq_T&gt;::sample</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="366"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>x<sp/>(<sp/><ref refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" kindref="member" tooltip="dimension (redundant from rv.count() for easier coding )">dim</ref><sp/>);</highlight></codeline>
+<codeline lineno="367"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/><ref refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" kindref="member" tooltip="dimension (redundant from rv.count() for easier coding )">dim</ref>,x<sp/>);</highlight></codeline>
+<codeline lineno="368"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>smp<sp/>=<sp/><ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>.sqrt_mult<sp/>(<sp/>x<sp/>);</highlight></codeline>
+<codeline lineno="369"><highlight class="normal"></highlight></codeline>
+<codeline lineno="370"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>smp<sp/>+=<sp/><ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>;</highlight></codeline>
+<codeline lineno="371"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>smp;</highlight></codeline>
+<codeline lineno="372"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="373"><highlight class="normal"></highlight></codeline>
+<codeline lineno="374"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="375" refid="classenorm_160f0f3bfa53d6e65843eea9532b16d36" refkind="member"><highlight class="normal">mat<sp/><ref refid="classenorm_160b47544f6181ffd4530d3e415ce12c5" kindref="member" tooltip="Returns the required moment of the epdf.">enorm&lt;sq_T&gt;::sample</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>N<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="376"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>X<sp/>(<sp/><ref refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" kindref="member" tooltip="dimension (redundant from rv.count() for easier coding )">dim</ref>,N<sp/>);</highlight></codeline>
+<codeline lineno="377"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>x<sp/>(<sp/><ref refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" kindref="member" tooltip="dimension (redundant from rv.count() for easier coding )">dim</ref><sp/>);</highlight></codeline>
+<codeline lineno="378"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom;</highlight></codeline>
+<codeline lineno="379"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="380"><highlight class="normal"></highlight></codeline>
+<codeline lineno="381"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;N;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="382"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/><ref refid="classenorm_16938fc390a19cdaf6ad4503fcbaada4e" kindref="member" tooltip="dimension (redundant from rv.count() for easier coding )">dim</ref>,x<sp/>);</highlight></codeline>
+<codeline lineno="383"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pom<sp/>=<sp/><ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>.sqrt_mult<sp/>(<sp/>x<sp/>);</highlight></codeline>
+<codeline lineno="384"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pom<sp/>+=<ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>;</highlight></codeline>
+<codeline lineno="385"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>X.set_col<sp/>(<sp/>i,<sp/>pom<sp/>);</highlight></codeline>
+<codeline lineno="386"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="387"><highlight class="normal"></highlight></codeline>
+<codeline lineno="388"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>X;</highlight></codeline>
+<codeline lineno="389"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="390"><highlight class="normal"></highlight></codeline>
+<codeline lineno="391"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="392" refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0" kindref="member" tooltip="Compute probability of argument val.">enorm&lt;sq_T&gt;::eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="393"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pdfl,e;</highlight></codeline>
+<codeline lineno="394"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pdfl<sp/>=<sp/><ref refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/>val<sp/>);</highlight></codeline>
+<codeline lineno="395"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>e<sp/>=<sp/>exp<sp/>(<sp/>pdfl<sp/>);</highlight></codeline>
+<codeline lineno="396"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>e;</highlight></codeline>
+<codeline lineno="397"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="398"><highlight class="normal"></highlight></codeline>
+<codeline lineno="399"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="400" refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" kindref="member" tooltip="Compute log-probability of argument val.">enorm&lt;sq_T&gt;::evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="401"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1.83787706640935<sp/>=<sp/>log(2pi)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="402"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><sp/>-0.5*<sp/>(<sp/><sp/>+<ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>.invqform<sp/>(<sp/><ref refid="classenorm_171fde0d54bba147e00f612577f95ad20" kindref="member" tooltip="mean value">mu</ref>-val<sp/>)<sp/>)<sp/>-<sp/><ref refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();</highlight></codeline>
+<codeline lineno="403"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="404"><highlight class="normal"></highlight></codeline>
+<codeline lineno="405"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="406" refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" refkind="member"><highlight class="normal"></highlight><highlight class="keyword">inline</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classenorm_1b289a36a69db59d182bb6eba9c05d4a8" kindref="member" tooltip="logarithm of the normalizing constant, ">enorm&lt;sq_T&gt;::lognc</ref><sp/>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="407"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1.83787706640935<sp/>=<sp/>log(2pi)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="408"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>-0.5*<sp/>(<sp/><ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>.cols()<sp/>*<sp/>1.83787706640935<sp/>+<ref refid="classenorm_14ccc8d8514d644ef1c98d8ab023748a1" kindref="member" tooltip="Covariance matrix in decomposed form.">R</ref>.logdet());</highlight></codeline>
+<codeline lineno="409"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="410"><highlight class="normal"></highlight></codeline>
+<codeline lineno="411"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="412" refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" refkind="member"><highlight class="normal"><ref refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" kindref="member" tooltip="Constructor.">mlnorm&lt;sq_T&gt;::mlnorm</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvc0<sp/>)<sp/>:<ref refid="classmEF" kindref="compound" tooltip="Exponential family model.">mEF</ref><sp/>(<sp/>rv0,rvc0<sp/>),<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>(<sp/>rv0<sp/>),A<sp/>(<sp/>rv0.count(),rv0.count()<sp/>),<ref refid="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" kindref="member" tooltip="returns a pointer to the internal mean value. Use with Care!">_mu</ref>(<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>.<ref refid="classenorm_10b8cb284e5af920a1b64a21d057ec5ac" kindref="member" tooltip="returns a pointer to the internal mean value. Use with Care!">_mu</ref>())<sp/>{<sp/><ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref><sp/>=&amp;<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>;</highlight></codeline>
+<codeline lineno="413"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="414"><highlight class="normal"></highlight></codeline>
+<codeline lineno="415"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="416" refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" kindref="member" tooltip="Set A and R.">mlnorm&lt;sq_T&gt;::set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;R0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="417"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>.set_parameters<sp/>(<sp/>zeros<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>),R0<sp/>);</highlight></codeline>
+<codeline lineno="418"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>=<sp/>A0;</highlight></codeline>
+<codeline lineno="419"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="420"><highlight class="normal"></highlight></codeline>
+<codeline lineno="421"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="422" refid="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" refkind="member"><highlight class="normal">vec<sp/><ref refid="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" kindref="member" tooltip="Generate one sample of the posterior.">mlnorm&lt;sq_T&gt;::samplecond</ref><sp/>(<sp/>vec<sp/>&amp;cond,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;lik<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="423"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" kindref="member" tooltip="Set value of rvc . Result of this operation is stored in epdf use function _ep to...">condition</ref><sp/>(<sp/>cond<sp/>);</highlight></codeline>
+<codeline lineno="424"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>smp<sp/>=<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>.sample();</highlight></codeline>
+<codeline lineno="425"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lik<sp/>=<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>.eval<sp/>(<sp/>smp<sp/>);</highlight></codeline>
+<codeline lineno="426"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>smp;</highlight></codeline>
+<codeline lineno="427"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="428"><highlight class="normal"></highlight></codeline>
+<codeline lineno="429"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="430" refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" refkind="member"><highlight class="normal">mat<sp/><ref refid="classmlnorm_1decf3e3b5c8e0812e5b4dbe94fa2ae18" kindref="member" tooltip="Generate one sample of the posterior.">mlnorm&lt;sq_T&gt;::samplecond</ref><sp/>(<sp/>vec<sp/>&amp;cond,<sp/>vec<sp/>&amp;lik,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="431"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="432"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dim<sp/>=<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>();</highlight></codeline>
+<codeline lineno="433"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Smp<sp/>(<sp/>dim,n<sp/>);</highlight></codeline>
+<codeline lineno="434"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>smp<sp/>(<sp/>dim<sp/>);</highlight></codeline>
+<codeline lineno="435"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" kindref="member" tooltip="Set value of rvc . Result of this operation is stored in epdf use function _ep to...">condition</ref><sp/>(<sp/>cond<sp/>);</highlight></codeline>
+<codeline lineno="436"><highlight class="normal"></highlight></codeline>
+<codeline lineno="437"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;n;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="438"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>smp<sp/>=<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>.sample();</highlight></codeline>
+<codeline lineno="439"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lik<sp/>(<sp/>i<sp/>)<sp/>=<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>.eval<sp/>(<sp/>smp<sp/>);</highlight></codeline>
+<codeline lineno="440"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp.set_col<sp/>(<sp/>i<sp/>,smp<sp/>);</highlight></codeline>
+<codeline lineno="441"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="442"><highlight class="normal"></highlight></codeline>
+<codeline lineno="443"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>Smp;</highlight></codeline>
+<codeline lineno="444"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="445"><highlight class="normal"></highlight></codeline>
+<codeline lineno="446"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="447" refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmlnorm_15232fc7e305eceab4e2bd6a8daa44195" kindref="member" tooltip="Set value of rvc . Result of this operation is stored in epdf use function _ep to...">mlnorm&lt;sq_T&gt;::condition</ref><sp/>(<sp/>vec<sp/>&amp;cond<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="448"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>_mu<sp/>=<sp/>A*cond;</highlight></codeline>
+<codeline lineno="449"><highlight class="normal"></highlight><highlight class="comment">//R<sp/>is<sp/>already<sp/>assigned;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="450"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="451"><highlight class="normal"></highlight></codeline>
+<codeline lineno="453"><highlight class="normal"></highlight></codeline>
+<codeline lineno="454"><highlight class="normal"></highlight></codeline>
+<codeline lineno="455"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//EF_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/merger_8h.xml
===================================================================
--- /doc/xml/merger_8h.xml (revision 187)
+++ /doc/xml/merger_8h.xml (revision 187)
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="merger_8h" kind="file">
+    <compoundname>merger.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">libBM.h</includes>
+    <includes refid="libEF_8h" local="yes">libEF.h</includes>
+    <includes refid="emix_8h" local="yes">emix.h</includes>
+    <includedby refid="merger_8cpp" local="yes">work/git/mixpp/bdm/stat/merger.cpp</includedby>
+    <includedby refid="merg__pred_8cpp" local="no">work/git/mixpp/mpdm/merg_pred.cpp</includedby>
+    <includedby refid="merger__test_8cpp" local="no">work/git/mixpp/tests/merger_test.cpp</includedby>
+    <incdepgraph>
+      <node id="451">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="450" relation="include">
+        </childnode>
+      </node>
+      <node id="449">
+        <label>work/git/mixpp/bdm/stat/merger.h</label>
+        <link refid="merger.h"/>
+        <childnode refid="450" relation="include">
+        </childnode>
+        <childnode refid="451" relation="include">
+        </childnode>
+        <childnode refid="452" relation="include">
+        </childnode>
+        <childnode refid="455" relation="include">
+        </childnode>
+      </node>
+      <node id="455">
+        <label>emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="451" relation="include">
+        </childnode>
+        <childnode refid="452" relation="include">
+        </childnode>
+      </node>
+      <node id="454">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="450" relation="include">
+        </childnode>
+      </node>
+      <node id="452">
+        <label>libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="450" relation="include">
+        </childnode>
+        <childnode refid="453" relation="include">
+        </childnode>
+        <childnode refid="451" relation="include">
+        </childnode>
+        <childnode refid="454" relation="include">
+        </childnode>
+      </node>
+      <node id="450">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="453">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="450" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classmerger" prot="public">merger</innerclass>
+    <briefdescription>
+<para>Mergers for combination of pdfs. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>MER_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MER_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libBM_8h" kindref="compound" tooltip="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">libEF.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="emix_8h" kindref="compound" tooltip="Probability distributions for Mixtures of pdfs.">emix.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::string;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30" refid="classmerger" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmerger" kindref="compound" tooltip="Function for general combination of pdfs.">merger</ref><sp/>{</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:<sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Smp;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmprod" kindref="compound" tooltip="Chain rule decomposition of epdf.">mprod</ref><sp/>joint;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="36" refid="classmerger_11a6a721294321c2e412ca0084c636b69" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmerger_11a6a721294321c2e412ca0084c636b69" kindref="member" tooltip="Default constructor.">merger</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Array&lt;mpdf*&gt;<sp/>&amp;in_sources)<sp/>:<sp/>joint(in_sources)<sp/>{</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvc=joint.<ref refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" kindref="member" tooltip="access function">_rvc</ref>();</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>project<sp/></highlight></codeline>
+<codeline lineno="42" refid="classmerger_151e425ee1dd46d73353526e6a1c24ca3" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classmerger_151e425ee1dd46d73353526e6a1c24ca3" kindref="member" tooltip="for future use">~merger</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="43"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>MER_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/merger.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/compound.xsd
===================================================================
--- /doc/xml/compound.xsd (revision 187)
+++ /doc/xml/compound.xsd (revision 187)
@@ -0,0 +1,797 @@
+<?xml version='1.0' encoding='utf-8' ?>
+<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
+  <xsd:element name="doxygen" type="DoxygenType"/>
+
+  <!-- Complex types -->
+
+  <xsd:complexType name="DoxygenType">
+    <xsd:sequence maxOccurs="unbounded">
+      <xsd:element name="compounddef" type="compounddefType" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="version" type="DoxVersionNumber" use="required" />
+  </xsd:complexType>
+
+  <xsd:complexType name="compounddefType">
+    <xsd:sequence>
+      <xsd:element name="compoundname" type="xsd:string"/>
+      <xsd:element name="title" type="xsd:string" minOccurs="0" />
+      <xsd:element name="basecompoundref" type="compoundRefType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="derivedcompoundref" type="compoundRefType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="includes" type="incType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="includedby" type="incType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="incdepgraph" type="graphType" minOccurs="0" />
+      <xsd:element name="invincdepgraph" type="graphType" minOccurs="0" />
+      <xsd:element name="innerdir" type="refType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="innerfile" type="refType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="innerclass" type="refType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="innernamespace" type="refType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="innerpage" type="refType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="innergroup" type="refType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="templateparamlist" type="templateparamlistType" minOccurs="0" />
+      <xsd:element name="sectiondef" type="sectiondefType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="briefdescription" type="descriptionType" minOccurs="0" />
+      <xsd:element name="detaileddescription" type="descriptionType" minOccurs="0" />
+      <xsd:element name="inheritancegraph" type="graphType" minOccurs="0" />
+      <xsd:element name="collaborationgraph" type="graphType" minOccurs="0" />
+      <xsd:element name="programlisting" type="listingType" minOccurs="0" />
+      <xsd:element name="location" type="locationType" minOccurs="0" />
+      <xsd:element name="listofallmembers" type="listofallmembersType" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" />
+    <xsd:attribute name="kind" type="DoxCompoundKind" />
+    <xsd:attribute name="prot" type="DoxProtectionKind" />
+  </xsd:complexType>
+
+  <xsd:complexType name="listofallmembersType">
+    <xsd:sequence>
+      <xsd:element name="member" type="memberRefType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="memberRefType">
+    <xsd:sequence>
+      <xsd:element name="scope" />
+      <xsd:element name="name" />
+    </xsd:sequence>
+    <xsd:attribute name="refid" type="xsd:string" />
+    <xsd:attribute name="prot" type="DoxProtectionKind" />
+    <xsd:attribute name="virt" type="DoxVirtualKind" />
+    <xsd:attribute name="ambiguityscope" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="compoundRefType" mixed="true">
+    <xsd:simpleContent>
+      <xsd:extension base="xsd:string">
+        <xsd:attribute name="refid" type="xsd:string" use="optional" />
+        <xsd:attribute name="prot" type="DoxProtectionKind" />
+        <xsd:attribute name="virt" type="DoxVirtualKind" />
+      </xsd:extension>
+    </xsd:simpleContent>
+  </xsd:complexType>
+
+  <xsd:complexType name="reimplementType" mixed="true">
+    <xsd:simpleContent>
+      <xsd:extension base="xsd:string">
+        <xsd:attribute name="refid" type="xsd:string" />
+      </xsd:extension>
+    </xsd:simpleContent>
+  </xsd:complexType>
+
+  <xsd:complexType name="incType" mixed="true">
+    <xsd:simpleContent>
+      <xsd:extension base="xsd:string">
+        <xsd:attribute name="refid" type="xsd:string" />
+        <xsd:attribute name="local" type="DoxBool" />
+      </xsd:extension>
+    </xsd:simpleContent>
+  </xsd:complexType>
+
+  <xsd:complexType name="refType" mixed="true">
+    <xsd:simpleContent>
+      <xsd:extension base="xsd:string">
+        <xsd:attribute name="refid" type="xsd:string" />
+        <xsd:attribute name="prot" type="DoxProtectionKind" use="optional"/>
+      </xsd:extension>
+    </xsd:simpleContent>
+  </xsd:complexType>
+
+  <xsd:complexType name="refTextType" mixed="true">
+    <xsd:simpleContent>
+      <xsd:extension base="xsd:string">
+       <xsd:attribute name="refid" type="xsd:string" />
+       <xsd:attribute name="kindref" type="DoxRefKind" />
+       <xsd:attribute name="external" type="xsd:string" />
+      </xsd:extension>
+    </xsd:simpleContent>
+  </xsd:complexType>
+
+  <xsd:complexType name="sectiondefType">
+    <xsd:sequence>
+      <xsd:element name="header" type="xsd:string" minOccurs="0" />
+      <xsd:element name="description" type="descriptionType" minOccurs="0" />
+      <xsd:element name="memberdef" type="memberdefType" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="kind" type="DoxSectionKind" />
+  </xsd:complexType>
+
+  <xsd:complexType name="memberdefType">
+    <xsd:sequence>
+      <xsd:element name="templateparamlist" type="templateparamlistType" minOccurs="0" />
+      <xsd:element name="type" type="linkedTextType" minOccurs="0" />
+      <xsd:element name="definition" minOccurs="0" />
+      <xsd:element name="argsstring" minOccurs="0" />
+      <xsd:element name="name" />
+      <xsd:element name="read" minOccurs="0" />
+      <xsd:element name="write" minOccurs="0" />
+      <xsd:element name="bitfield" minOccurs="0" />
+      <xsd:element name="reimplements" type="reimplementType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="reimplementedby" type="reimplementType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="param" type="paramType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="enumvalue" type="enumvalueType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="initializer" type="linkedTextType" minOccurs="0" />
+      <xsd:element name="exceptions" type="linkedTextType" minOccurs="0" />
+      <xsd:element name="briefdescription" type="descriptionType" minOccurs="0" />
+      <xsd:element name="detaileddescription" type="descriptionType" minOccurs="0" />
+      <xsd:element name="inbodydescription" type="descriptionType" minOccurs="0" />
+      <xsd:element name="location" type="locationType" />
+      <xsd:element name="references" type="referenceType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="referencedby" type="referenceType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="kind" type="DoxMemberKind" />
+    <xsd:attribute name="id" type="xsd:string" />
+    <xsd:attribute name="prot" type="DoxProtectionKind" />
+    <xsd:attribute name="static" type="DoxBool" />
+    <xsd:attribute name="const" type="DoxBool" />
+    <xsd:attribute name="explicit" type="DoxBool" />
+    <xsd:attribute name="inline" type="DoxBool" />
+    <xsd:attribute name="virt" type="DoxVirtualKind" />
+    <xsd:attribute name="volatile" type="DoxBool" />
+    <xsd:attribute name="mutable" type="DoxBool" />
+    <!-- Qt property -->
+    <xsd:attribute name="readable" type="DoxBool" use="optional"/>
+    <xsd:attribute name="writable" type="DoxBool" use="optional"/>
+    <!-- C++/CLI variable -->
+    <xsd:attribute name="initonly" type="DoxBool" use="optional"/>
+    <!-- C++/CLI and C# property -->
+    <xsd:attribute name="settable" type="DoxBool" use="optional"/>
+    <xsd:attribute name="gettable" type="DoxBool" use="optional"/>
+    <!-- C++/CLI function -->
+    <xsd:attribute name="final" type="DoxBool" use="optional"/>
+    <xsd:attribute name="sealed" type="DoxBool" use="optional"/>
+    <xsd:attribute name="new" type="DoxBool" use="optional"/>
+    <!-- C++/CLI event -->
+    <xsd:attribute name="add" type="DoxBool" use="optional"/>
+    <xsd:attribute name="remove" type="DoxBool" use="optional"/>
+    <xsd:attribute name="raise" type="DoxBool" use="optional"/>
+  </xsd:complexType>
+
+  <xsd:complexType name="descriptionType" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="title" type="xsd:string" minOccurs="0"/>	    
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect1" type="docSect1Type" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="internal" type="docInternalType" minOccurs="0" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="enumvalueType" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="name" />
+      <xsd:element name="initializer" type="linkedTextType" minOccurs="0" />
+      <xsd:element name="briefdescription" type="descriptionType" minOccurs="0" />
+      <xsd:element name="detaileddescription" type="descriptionType" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" />
+    <xsd:attribute name="prot" type="DoxProtectionKind" />
+  </xsd:complexType>
+
+  <xsd:complexType name="templateparamlistType">
+    <xsd:sequence>
+      <xsd:element name="param" type="paramType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="paramType">
+    <xsd:sequence>
+      <xsd:element name="type" type="linkedTextType" minOccurs="0" />
+      <xsd:element name="declname" minOccurs="0" />
+      <xsd:element name="defname" minOccurs="0" />
+      <xsd:element name="array" minOccurs="0" />
+      <xsd:element name="defval" type="linkedTextType" minOccurs="0" />
+      <xsd:element name="briefdescription" type="descriptionType" minOccurs="0" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="linkedTextType" mixed="true">
+    <xsd:sequence>
+    <xsd:element name="ref" type="refTextType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="graphType">
+    <xsd:sequence>
+      <xsd:element name="node" type="nodeType" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="nodeType">
+    <xsd:sequence>
+      <xsd:element name="label" />
+      <xsd:element name="link" type="linkType" minOccurs="0" />
+      <xsd:element name="childnode" type="childnodeType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="childnodeType">
+    <xsd:sequence>
+      <xsd:element name="edgelabel" minOccurs="0" maxOccurs="unbounded"/>
+    </xsd:sequence>
+    <xsd:attribute name="refid" type="xsd:string" />
+    <xsd:attribute name="relation" type="DoxGraphRelation" />
+  </xsd:complexType>
+
+  <xsd:complexType name="linkType">
+    <xsd:attribute name="refid" type="xsd:string" />
+    <xsd:attribute name="external" type="xsd:string" use="optional"/>
+  </xsd:complexType>
+
+  <xsd:complexType name="listingType">
+    <xsd:sequence>
+      <xsd:element name="codeline" type="codelineType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="codelineType">
+    <xsd:sequence>
+      <xsd:element name="highlight" type="highlightType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="lineno" type="xsd:integer" />
+    <xsd:attribute name="refid" type="xsd:string" />
+    <xsd:attribute name="refkind" type="DoxRefKind" />
+    <xsd:attribute name="external" type="DoxBool" />
+  </xsd:complexType>
+
+  <xsd:complexType name="highlightType" mixed="true">
+    <xsd:choice minOccurs="0" maxOccurs="unbounded">
+      <xsd:element name="sp" />
+      <xsd:element name="ref" type="refTextType" />
+    </xsd:choice>
+    <xsd:attribute name="class" type="DoxHighlightClass" />
+  </xsd:complexType>
+
+  <xsd:complexType name="referenceType" mixed="true">
+    <xsd:attribute name="refid" type="xsd:string" />
+    <xsd:attribute name="compoundref" type="xsd:string" use="optional" />
+    <xsd:attribute name="startline" type="xsd:integer" />
+    <xsd:attribute name="endline" type="xsd:integer" />
+  </xsd:complexType>
+
+  <xsd:complexType name="locationType">
+    <xsd:attribute name="file" type="xsd:string" />
+    <xsd:attribute name="line" type="xsd:integer" />
+    <xsd:attribute name="bodyfile" type="xsd:string" />
+    <xsd:attribute name="bodystart" type="xsd:integer" />
+    <xsd:attribute name="bodyend" type="xsd:integer" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docSect1Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="title" type="xsd:string" />	    
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect2" type="docSect2Type" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="internal" type="docInternalS1Type" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docSect2Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="title" type="xsd:string" />	    
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect3" type="docSect3Type" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="internal" type="docInternalS2Type" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docSect3Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="title" type="xsd:string" />	    
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect4" type="docSect4Type" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="internal" type="docInternalS3Type" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docSect4Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="title" type="xsd:string" />	    
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="internal" type="docInternalS4Type" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docInternalType" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="para"  type="docParaType"  minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect1" type="docSect1Type" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docInternalS1Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="para"  type="docParaType"  minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect2" type="docSect2Type" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docInternalS2Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="para"  type="docParaType"  minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect3" type="docSect3Type" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docInternalS3Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="para"  type="docParaType"  minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect3" type="docSect4Type" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docInternalS4Type" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="para"  type="docParaType"  minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+ 
+  <xsd:group name="docTitleCmdGroup">
+    <xsd:choice>
+      <xsd:element name="ulink" type="docURLLink" />
+      <xsd:element name="bold" type="docMarkupType" />
+      <xsd:element name="emphasis" type="docMarkupType" />
+      <xsd:element name="computeroutput" type="docMarkupType" />
+      <xsd:element name="subscript" type="docMarkupType" />
+      <xsd:element name="superscript" type="docMarkupType" />
+      <xsd:element name="center" type="docMarkupType" />
+      <xsd:element name="small" type="docMarkupType" />
+      <xsd:element name="htmlonly" type="xsd:string" />
+      <xsd:element name="latexonly" type="xsd:string" />
+      <xsd:element name="dot" type="xsd:string" />
+      <xsd:element name="anchor" type="docAnchorType" />
+      <xsd:element name="formula" type="docFormulaType" />
+      <xsd:element name="ref" type="docRefTextType" />
+      <xsd:element name="copy" type="docEmptyType" />
+      <xsd:element name="trademark" type="docEmptyType" />
+      <xsd:element name="registered" type="docEmptyType" />
+      <xsd:element name="lsquo" type="docEmptyType" />
+      <xsd:element name="rsquo" type="docEmptyType" />
+      <xsd:element name="ldquo" type="docEmptyType" />
+      <xsd:element name="rdquo" type="docEmptyType" />
+      <xsd:element name="ndash" type="docEmptyType" />
+      <xsd:element name="mdash" type="docEmptyType" />
+      <xsd:element name="umlaut" type="docCharType" />
+      <xsd:element name="acute" type="docCharType" />
+      <xsd:element name="grave" type="docCharType" />
+      <xsd:element name="circ" type="docCharType" />
+      <xsd:element name="slash" type="docCharType" />
+      <xsd:element name="tilde" type="docCharType" />
+      <xsd:element name="cedil" type="docCharType" />
+      <xsd:element name="ring" type="docCharType" />
+      <xsd:element name="szlig" type="docEmptyType" />
+      <xsd:element name="nonbreakablespace" type="docEmptyType" />
+    </xsd:choice>
+  </xsd:group>
+
+  <xsd:complexType name="docTitleType" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+  </xsd:complexType>
+
+  <xsd:group name="docCmdGroup">
+    <xsd:choice>
+      <xsd:group ref="docTitleCmdGroup"/>
+      <xsd:element name="linebreak" type="docEmptyType" />
+      <xsd:element name="hruler" type="docEmptyType" />
+      <xsd:element name="preformatted" type="docMarkupType" />
+      <xsd:element name="programlisting" type="listingType" />
+      <xsd:element name="verbatim" type="xsd:string" />
+      <xsd:element name="indexentry" type="docIndexEntryType" />
+      <xsd:element name="orderedlist" type="docListType" />
+      <xsd:element name="itemizedlist" type="docListType" />
+      <xsd:element name="simplesect" type="docSimpleSectType" />
+      <xsd:element name="title" type="docTitleType" />
+      <xsd:element name="variablelist" type="docVariableListType" />
+      <xsd:element name="table" type="docTableType" />
+      <xsd:element name="heading" type="docHeadingType" />
+      <xsd:element name="image" type="docImageType" />
+      <xsd:element name="dotfile" type="docDotFileType" />
+      <xsd:element name="toclist" type="docTocListType" />
+      <xsd:element name="language" type="docLanguageType" />
+      <xsd:element name="parameterlist" type="docParamListType" />
+      <xsd:element name="xrefsect" type="docXRefSectType" />
+      <xsd:element name="copydoc" type="docCopyType" />
+    </xsd:choice>
+  </xsd:group>
+
+  <xsd:complexType name="docParaType" mixed="true">
+    <xsd:group ref="docCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docMarkupType" mixed="true">
+    <xsd:group ref="docCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docURLLink" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+    <xsd:attribute name="url" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docAnchorType" mixed="true">
+    <xsd:attribute name="id" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docFormulaType" mixed="true">
+    <xsd:attribute name="id" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docIndexEntryType">
+    <xsd:sequence>
+      <xsd:element name="primaryie" type="xsd:string" />
+      <xsd:element name="secondaryie" type="xsd:string" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docListType">
+    <xsd:sequence>
+      <xsd:element name="listitem" type="docListItemType" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docListItemType">
+    <xsd:sequence>
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docSimpleSectType">
+    <xsd:sequence>
+      <xsd:element name="title" type="docTitleType" minOccurs="0" />
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="kind" type="DoxSimpleSectKind" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docVarListEntryType">
+    <xsd:sequence>
+      <xsd:element name="term" type="docTitleType" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:group name="docVariableListGroup">
+    <xsd:sequence>
+      <xsd:element name="varlistentry" type="docVarListEntryType" />
+      <xsd:element name="listitem" type="docListItemType" />
+    </xsd:sequence>
+  </xsd:group>
+
+  <xsd:complexType name="docVariableListType">
+    <xsd:sequence>
+      <xsd:group ref="docVariableListGroup" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docRefTextType" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+    <xsd:attribute name="refid" type="xsd:string" />
+    <xsd:attribute name="kindref" type="DoxRefKind" />
+    <xsd:attribute name="external" type="xsd:string" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docTableType">
+    <xsd:sequence>
+      <xsd:element name="row" type="docRowType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="caption" type="docCaptionType" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="rows" type="xsd:integer" />
+    <xsd:attribute name="cols" type="xsd:integer" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docRowType">
+    <xsd:sequence>
+      <xsd:element name="entry" type="docEntryType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docEntryType">
+    <xsd:sequence>
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="thead" type="DoxBool" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docCaptionType" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docHeadingType" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+    <xsd:attribute name="level" type="xsd:integer" /> <!-- todo: range 1-6 -->
+  </xsd:complexType>
+
+  <xsd:complexType name="docImageType" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+    <xsd:attribute name="type" type="DoxImageKind" /> 
+    <xsd:attribute name="name" type="xsd:string" /> 
+    <xsd:attribute name="width" type="xsd:string" /> 
+    <xsd:attribute name="height" type="xsd:string" /> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docDotFileType" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+    <xsd:attribute name="name" type="xsd:string" /> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docTocItemType" mixed="true">
+    <xsd:group ref="docTitleCmdGroup" minOccurs="0" maxOccurs="unbounded" />
+    <xsd:attribute name="id" type="xsd:string" /> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docTocListType">
+    <xsd:sequence>
+      <xsd:element name="tocitem" type="docTocItemType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docLanguageType">
+    <xsd:sequence>
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="langid" type="xsd:string" /> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docParamListType">
+    <xsd:sequence>
+      <xsd:element name="parameteritem" type="docParamListItem" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+    <xsd:attribute name="kind" type="DoxParamListKind" /> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docParamListItem">
+    <xsd:sequence>
+      <xsd:element name="parameternamelist" type="docParamNameList" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="parameterdescription" type="descriptionType" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docParamNameList">
+    <xsd:sequence>
+      <xsd:element name="parametername" type="docParamName" minOccurs="0" maxOccurs="unbounded" />
+    </xsd:sequence>
+  </xsd:complexType>
+
+  <xsd:complexType name="docParamName" mixed="true">
+    <xsd:sequence>
+      <xsd:element name="ref" type="refTextType" minOccurs="0" maxOccurs="1" />
+    </xsd:sequence>
+    <xsd:attribute name="direction" type="DoxParamDir" use="optional" />
+  </xsd:complexType>
+
+  <xsd:complexType name="docXRefSectType">
+    <xsd:sequence>
+      <xsd:element name="xreftitle" type="xsd:string" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="xrefdescription" type="descriptionType" />
+    </xsd:sequence>
+    <xsd:attribute name="id" type="xsd:string" /> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docCopyType">
+    <xsd:sequence>
+      <xsd:element name="para" type="docParaType" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="sect1" type="docSect1Type" minOccurs="0" maxOccurs="unbounded" />
+      <xsd:element name="internal" type="docInternalType" minOccurs="0" />
+    </xsd:sequence>
+    <xsd:attribute name="link" type="xsd:string" /> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docCharType">
+    <xsd:attribute name="char" type="DoxCharRange"/> 
+  </xsd:complexType>
+
+  <xsd:complexType name="docEmptyType"/>
+
+  <!-- Simple types -->
+
+  <xsd:simpleType name="DoxBool">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="yes" />
+      <xsd:enumeration value="no" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxGraphRelation">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="include" />
+      <xsd:enumeration value="usage" />
+      <xsd:enumeration value="template-instance" />
+      <xsd:enumeration value="public-inheritance" />
+      <xsd:enumeration value="protected-inheritance" />
+      <xsd:enumeration value="private-inheritance" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxRefKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="compound" />
+      <xsd:enumeration value="member" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxMemberKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="define" />
+      <xsd:enumeration value="property" />
+      <xsd:enumeration value="event" />
+      <xsd:enumeration value="variable" />
+      <xsd:enumeration value="typedef" />
+      <xsd:enumeration value="enum" />
+      <xsd:enumeration value="function" />
+      <xsd:enumeration value="signal" />
+      <xsd:enumeration value="prototype" />
+      <xsd:enumeration value="friend" />
+      <xsd:enumeration value="dcop" />
+      <xsd:enumeration value="slot" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxProtectionKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="public" />
+      <xsd:enumeration value="protected" />
+      <xsd:enumeration value="private" />
+      <xsd:enumeration value="package" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxVirtualKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="non-virtual" />
+      <xsd:enumeration value="virtual" />
+      <xsd:enumeration value="pure-virtual" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxCompoundKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="class" />
+      <xsd:enumeration value="struct" />
+      <xsd:enumeration value="union" />
+      <xsd:enumeration value="interface" />
+      <xsd:enumeration value="protocol" />
+      <xsd:enumeration value="category" />
+      <xsd:enumeration value="exception" />
+      <xsd:enumeration value="file" />
+      <xsd:enumeration value="namespace" />
+      <xsd:enumeration value="group" />
+      <xsd:enumeration value="page" />
+      <xsd:enumeration value="example" />
+      <xsd:enumeration value="dir" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxSectionKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="user-defined" />
+      <xsd:enumeration value="public-type" />
+      <xsd:enumeration value="public-func" />
+      <xsd:enumeration value="public-attrib" />
+      <xsd:enumeration value="public-slot" />
+      <xsd:enumeration value="signal" />
+      <xsd:enumeration value="dcop-func" />
+      <xsd:enumeration value="property" />
+      <xsd:enumeration value="event" />
+      <xsd:enumeration value="public-static-func" />
+      <xsd:enumeration value="public-static-attrib" />
+      <xsd:enumeration value="protected-type" />
+      <xsd:enumeration value="protected-func" />
+      <xsd:enumeration value="protected-attrib" />
+      <xsd:enumeration value="protected-slot" />
+      <xsd:enumeration value="protected-static-func" />
+      <xsd:enumeration value="protected-static-attrib" />
+      <xsd:enumeration value="package-type" />
+      <xsd:enumeration value="package-func" />
+      <xsd:enumeration value="package-attrib" />
+      <xsd:enumeration value="package-static-func" />
+      <xsd:enumeration value="package-static-attrib" />
+      <xsd:enumeration value="private-type" />
+      <xsd:enumeration value="private-func" />
+      <xsd:enumeration value="private-attrib" />
+      <xsd:enumeration value="private-slot" />
+      <xsd:enumeration value="private-static-func" />
+      <xsd:enumeration value="private-static-attrib" />
+      <xsd:enumeration value="friend" />
+      <xsd:enumeration value="related" />
+      <xsd:enumeration value="define" />
+      <xsd:enumeration value="prototype" />
+      <xsd:enumeration value="typedef" />
+      <xsd:enumeration value="enum" />
+      <xsd:enumeration value="func" />
+      <xsd:enumeration value="var" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxHighlightClass">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="comment" />
+      <xsd:enumeration value="normal" />
+      <xsd:enumeration value="preprocessor" />
+      <xsd:enumeration value="keyword" />
+      <xsd:enumeration value="keywordtype" />
+      <xsd:enumeration value="keywordflow" />
+      <xsd:enumeration value="stringliteral" />
+      <xsd:enumeration value="charliteral" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxSimpleSectKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="see" />
+      <xsd:enumeration value="return" />
+      <xsd:enumeration value="author" />
+      <xsd:enumeration value="authors" />
+      <xsd:enumeration value="version" />
+      <xsd:enumeration value="since" />
+      <xsd:enumeration value="date" />
+      <xsd:enumeration value="note" />
+      <xsd:enumeration value="warning" />
+      <xsd:enumeration value="pre" />
+      <xsd:enumeration value="post" />
+      <xsd:enumeration value="invariant" />
+      <xsd:enumeration value="remark" />
+      <xsd:enumeration value="attention" />
+      <xsd:enumeration value="par" />
+      <xsd:enumeration value="rcs" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxVersionNumber">
+    <xsd:restriction base="xsd:string">
+      <xsd:pattern value="\d+\.\d+.*" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxImageKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="html" />
+      <xsd:enumeration value="latex" />
+      <xsd:enumeration value="rtf" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxParamListKind">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="param" />
+      <xsd:enumeration value="retval" />
+      <xsd:enumeration value="exception" />
+      <xsd:enumeration value="templateparam" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxCharRange">
+    <xsd:restriction base="xsd:string">
+      <xsd:pattern value="[aeiouncAEIOUNC]" />
+    </xsd:restriction>
+  </xsd:simpleType>
+
+  <xsd:simpleType name="DoxParamDir">
+    <xsd:restriction base="xsd:string">
+      <xsd:enumeration value="in"/>
+      <xsd:enumeration value="out"/>
+      <xsd:enumeration value="inout"/>
+    </xsd:restriction>
+  </xsd:simpleType>
+
+</xsd:schema>
+
Index: /doc/xml/pmsm__mix_8cpp.xml
===================================================================
--- /doc/xml/pmsm__mix_8cpp.xml (revision 187)
+++ /doc/xml/pmsm__mix_8cpp.xml (revision 187)
@@ -0,0 +1,294 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__mix_8cpp" kind="file">
+    <compoundname>pmsm_mix.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includes refid="emix_8h" local="no">stat/emix.h</includes>
+    <includes refid="ekf__templ_8h" local="no">estim/ekf_templ.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <includes refid="simulator_8h" local="yes">simulator.h</includes>
+    <includes refid="sim__profiles_8h" local="yes">sim_profiles.h</includes>
+    <includes refid="loggers_8h" local="no">stat/loggers.h</includes>
+    <incdepgraph>
+      <node id="581">
+        <label>sim_profiles.h</label>
+        <link refid="sim__profiles_8h-source"/>
+      </node>
+      <node id="582">
+        <label>stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+        <childnode refid="570" relation="include">
+        </childnode>
+        <childnode refid="574" relation="include">
+        </childnode>
+      </node>
+      <node id="570">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+      </node>
+      <node id="580">
+        <label>simulator.h</label>
+        <link refid="simulator_8h-source"/>
+      </node>
+      <node id="571">
+        <label>stat/emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="570" relation="include">
+        </childnode>
+        <childnode refid="572" relation="include">
+        </childnode>
+      </node>
+      <node id="579">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="569" relation="include">
+        </childnode>
+      </node>
+      <node id="575">
+        <label>estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="576" relation="include">
+        </childnode>
+      </node>
+      <node id="574">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+      </node>
+      <node id="572">
+        <label>libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+        <childnode refid="573" relation="include">
+        </childnode>
+        <childnode refid="570" relation="include">
+        </childnode>
+        <childnode refid="574" relation="include">
+        </childnode>
+      </node>
+      <node id="578">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+        <childnode refid="572" relation="include">
+        </childnode>
+        <childnode refid="573" relation="include">
+        </childnode>
+      </node>
+      <node id="569">
+        <label>stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+        <childnode refid="570" relation="include">
+        </childnode>
+      </node>
+      <node id="568">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="577">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+        <childnode refid="573" relation="include">
+        </childnode>
+        <childnode refid="574" relation="include">
+        </childnode>
+      </node>
+      <node id="576">
+        <label>libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+        <childnode refid="569" relation="include">
+        </childnode>
+        <childnode refid="572" relation="include">
+        </childnode>
+        <childnode refid="577" relation="include">
+        </childnode>
+      </node>
+      <node id="573">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+      </node>
+      <node id="567">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm_mix.cpp"/>
+        <childnode refid="568" relation="include">
+        </childnode>
+        <childnode refid="569" relation="include">
+        </childnode>
+        <childnode refid="571" relation="include">
+        </childnode>
+        <childnode refid="575" relation="include">
+        </childnode>
+        <childnode refid="578" relation="include">
+        </childnode>
+        <childnode refid="579" relation="include">
+        </childnode>
+        <childnode refid="580" relation="include">
+        </childnode>
+        <childnode refid="581" relation="include">
+        </childnode>
+        <childnode refid="582" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__mix_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_mix.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_mix.cpp" bodystart="27" bodyend="131"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Models for synchronous electric drive using IT++ and BDM. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="emix_8h" kindref="compound" tooltip="Probability distributions for Mixtures of pdfs.">stat/emix.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="ekf__templ_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/ekf_templ.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;sim_profiles.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">stat/loggers.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>90000;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h<sp/>=<sp/>1e-6;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Nsimstep<sp/>=<sp/>125;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Npar<sp/>=<sp/>10;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>L(</highlight><highlight class="stringliteral">&quot;exp/pmsm_mix&quot;</highlight><highlight class="normal">,1000);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//memlog<sp/>L(Ndat);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>SET<sp/>SIMULATOR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_set_parameters<sp/>(<sp/>0.28,0.003465,0.1989,0.0,4,1.5,0.04,<sp/>200.,<sp/>3e-6,<sp/>h<sp/>);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xtm=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xdif=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xt<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ddif=zeros(2);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>Nsimstep*h,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Qt=zeros<sp/>(<sp/>4,4<sp/>);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Rt=zeros<sp/>(<sp/>2,2<sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ESTIMATORS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0<sp/>0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;62<sp/>66<sp/>454<sp/>0.03&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;100<sp/>100&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>&quot;0.034<sp/>0.034&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Q<sp/>=diag(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>R<sp/>=diag<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>Efix<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Efix.set_est<sp/>(<sp/>mu0,<sp/>1*eye<sp/>(<sp/>4<sp/>)<sp/><sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Efix.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQR(<sp/></highlight><highlight class="stringliteral">&quot;{Q<sp/>R<sp/>}&quot;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&quot;4<sp/>2<sp/>&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFful__unQR" kindref="compound" tooltip="Extended Kalman filter with unknown Q and R.">EKFful_unQR</ref><sp/>EKU<sp/>(rx,ry,ru,rQR);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKU.set_est<sp/>(<sp/>mu0,<sp/><sp/>1*ones<sp/>(<sp/>4<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKU.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,diag(Qdiag),diag(Rdiag)<sp/>);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//QU<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classegamma" kindref="compound" tooltip="Gamma posterior density.">egamma</ref><sp/>Gcom(rQR);Gcom.set_parameters(ones(6),vec(</highlight><highlight class="stringliteral">&quot;1<sp/>1<sp/>1e4<sp/>1e10<sp/>1<sp/>1&quot;</highlight><highlight class="normal">));</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Gcom.mean()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="71"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Gcom.sample()<sp/>&lt;&lt;endl;*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni" kindref="compound" tooltip="Uniform distributed density on a rectangular support.">euni</ref><sp/>Ucom(rQR);<sp/>Ucom.set_parameters(zeros(6),vec(</highlight><highlight class="stringliteral">&quot;60<sp/>60<sp/>453<sp/>0.03<sp/>100<sp/>100&quot;</highlight><highlight class="normal">));</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Ucom.mean()<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="74"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Ucom.sample()<sp/>&lt;&lt;endl;*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;epdf*&gt;<sp/>Coms(2);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Coms(0)<sp/>=<sp/>&amp;Gcom;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Coms(1)<sp/>=<sp/>&amp;Ucom;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classemix" kindref="compound" tooltip="Mixture of epdfs.">emix</ref><sp/>Eevol(rQR);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Eevol.set_parameters(</highlight><highlight class="stringliteral">&quot;0.1<sp/>0.9&quot;</highlight><highlight class="normal">,<sp/>Coms);</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>Eevol.sample()<sp/>&lt;&lt;endl;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmepdf" kindref="compound" tooltip="Unconditional mpdf, allows using epdf in the role of mpdf.">mepdf</ref><sp/>evolQR(Eevol);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF&lt;EKFful_unQR&gt;</ref><sp/>M<sp/>(<sp/>rx,rQR,<sp/>evolQR,<sp/>evolQR,<sp/>Npar,<sp/>EKU<sp/>);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>evolQR._epdf()<sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Efix_ep<sp/>=<sp/>Efix._epdf();</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>M_ep<sp/>=<sp/>M._epdf();</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//LOG</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rUD(<sp/></highlight><highlight class="stringliteral">&quot;{u_isa<sp/>u_isb<sp/>i_isa<sp/>i_isb<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>X_log<sp/>=<sp/>L.add(rx,</highlight><highlight class="stringliteral">&quot;X&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Efix_log<sp/>=<sp/>L.add(rx,</highlight><highlight class="stringliteral">&quot;XF&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>tmp=concat(rQR,rx);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>M_log<sp/>=<sp/>L.add(tmp,</highlight><highlight class="stringliteral">&quot;M&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.init();</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dum=0.0;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal">vec<sp/>dumvec<sp/>=<sp/>vec_1(1.0);</highlight></codeline>
+<codeline lineno="98"><highlight class="normal">vec<sp/>z=<sp/><sp/>evolQR.samplecond(dumvec,dum)<sp/>;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal">cout<sp/>&lt;&lt;<sp/>z<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tK=1;tK&lt;Ndat;tK++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Number<sp/>of<sp/>steps<sp/>of<sp/>a<sp/>simulator<sp/>for<sp/>one<sp/>step<sp/>of<sp/>Kalman</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;<sp/>ii&lt;Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sim_profile_steps1<sp/>(<sp/>Ww,<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_step<sp/>(<sp/>Ww<sp/>);</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>simulation<sp/>via<sp/>deterministic<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[0];</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[1];</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[2];</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[3];</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ESTIMATE</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Efix.bayes(concat(dt,ut));</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.bayes(concat(dt,ut));</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//LOG</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(X_log,<sp/><sp/>vec(x,4));<sp/></highlight><highlight class="comment">//vec<sp/>from<sp/>C-array</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(Efix_log,<sp/>Efix_ep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit(M_log,<sp/><sp/>M_ep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.step();</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.finalize();</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//L.itsave(&quot;sim_var.it&quot;);<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_mix.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_11e009577ec01a2ac7ad3947627a7bf1.xml
===================================================================
--- /doc/xml/dir_11e009577ec01a2ac7ad3947627a7bf1.xml (revision 187)
+++ /doc/xml/dir_11e009577ec01a2ac7ad3947627a7bf1.xml (revision 187)
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_11e009577ec01a2ac7ad3947627a7bf1" kind="dir">
+    <compoundname>work/mixpp/pmsm/simulator_zdenek/ekf_example/</compoundname>
+    <innerdir refid="dir_55644c48005aa82baf025d6434664d01">work/mixpp/pmsm/simulator_zdenek/ekf_example/data/</innerdir>
+    <innerfile refid="ekf_8cpp">ekf.cpp</innerfile>
+    <innerfile refid="ekf_8h">ekf.h</innerfile>
+    <innerfile refid="ekf__obj_8cpp">ekf_obj.cpp</innerfile>
+    <innerfile refid="ekf__obj_8h">ekf_obj.h</innerfile>
+    <innerfile refid="fixed_8cpp">fixed.cpp</innerfile>
+    <innerfile refid="fixed_8h">fixed.h</innerfile>
+    <innerfile refid="matrix_8cpp">matrix.cpp</innerfile>
+    <innerfile refid="matrix_8h">matrix.h</innerfile>
+    <innerfile refid="ekf__example_2nastaveni__regulatoru__float_8h">nastaveni_regulatoru_float.h</innerfile>
+    <innerfile refid="parametry__motoru_8h">parametry_motoru.h</innerfile>
+    <innerfile refid="pmsm__mod_8cpp">pmsm_mod.cpp</innerfile>
+    <innerfile refid="pmsm__mod_8h">pmsm_mod.h</innerfile>
+    <innerfile refid="pwm_8cpp">pwm.cpp</innerfile>
+    <innerfile refid="pwm_8h">pwm.h</innerfile>
+    <innerfile refid="reference_8h">reference.h</innerfile>
+    <innerfile refid="ekf__example_2regulace_8cpp">regulace.cpp</innerfile>
+    <innerfile refid="ekf__example_2regulace_8h">regulace.h</innerfile>
+    <innerfile refid="simul_8cpp">simul.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/pmsm/simulator_zdenek/ekf_example/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/demo__example_2nastaveni__regulatoru__float_8h.xml
===================================================================
--- /doc/xml/demo__example_2nastaveni__regulatoru__float_8h.xml (revision 187)
+++ /doc/xml/demo__example_2nastaveni__regulatoru__float_8h.xml (revision 187)
@@ -0,0 +1,167 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="demo__example_2nastaveni__regulatoru__float_8h" kind="file">
+    <compoundname>nastaveni_regulatoru_float.h</compoundname>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_1d7897c37e49be8364a1fd1702262b72b" prot="public" static="no">
+        <name>Ismax</name>
+        <initializer>40.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="14" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="14" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_1c8882337f06a374c43eb16d0be508885" prot="public" static="no">
+        <name>Kpi</name>
+        <initializer>20.</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="17" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_13e3ea04c138a4aeab30af0c8b3f9e81e" prot="public" static="no">
+        <name>Tii</name>
+        <initializer>0.005</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="18" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_132365fb2a4808089b42f412fe7db14c3" prot="public" static="no">
+        <name>MAXi</name>
+        <initializer>1199.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="19" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_13a8f990a1c729e733faad38c19b4b438" prot="public" static="no">
+        <name>Kpurm</name>
+        <initializer>50.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="22" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="22" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_19da00436f585c80347466fe8c3ba3c0c" prot="public" static="no">
+        <name>Tiurm</name>
+        <initializer>0.05</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_172a3d07230efbac58f03d4420c170dc4" prot="public" static="no">
+        <name>MINurm</name>
+        <initializer>(-0.95*Ismax)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_1bbfb453c8873d44bbd89aeb81e78722b" prot="public" static="no">
+        <name>Tfurm</name>
+        <initializer>0.01</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="25" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_1bfa19d7a61e2efc22daf83073cae7d74" prot="public" static="no">
+        <name>Kpw</name>
+        <initializer>3.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="28" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_1c2fbc4671c603f46890a6f004ca205fe" prot="public" static="no">
+        <name>Tiw</name>
+        <initializer>0.1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="demo__example_2nastaveni__regulatoru__float_8h_1fa3cf636e3004792891966e314edbb21" prot="public" static="no">
+        <name>MAXw</name>
+        <initializer>Ismax</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*********************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vector<sp/>control<sp/>of<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Control<sp/>system<sp/>parameters:<sp/>gains,<sp/>etc.</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*********************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Max.<sp/>motor<sp/>current</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Ismax<sp/><sp/><sp/>40.0<sp/></highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Current<sp/>controllers</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpi<sp/><sp/><sp/><sp/><sp/>20.<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="18"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tii<sp/><sp/><sp/><sp/><sp/>0.005<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="19"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXi<sp/><sp/><sp/><sp/>1199.0</highlight></codeline>
+<codeline lineno="20"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Field<sp/>weakening<sp/>-<sp/>controller<sp/>RUrm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpurm<sp/><sp/><sp/>50.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiurm<sp/><sp/><sp/>0.05<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="24"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MINurm<sp/><sp/>(-0.95*Ismax)<sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tfurm<sp/><sp/><sp/>0.01<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="26"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Speed<sp/>controller</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpw<sp/><sp/><sp/><sp/><sp/>3.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="29"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiw<sp/><sp/><sp/><sp/><sp/>0.1</highlight></codeline>
+<codeline lineno="30"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXw<sp/><sp/><sp/><sp/>Ismax</highlight></codeline>
+<codeline lineno="31"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/nastaveni_regulatoru_float.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/blas__test_8m.xml
===================================================================
--- /doc/xml/blas__test_8m.xml (revision 187)
+++ /doc/xml/blas__test_8m.xml (revision 187)
@@ -0,0 +1,445 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="blas__test_8m" kind="file">
+    <compoundname>blas_test.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="blas__test_8m_12130b3fad43c13477bb8661bb22f90aa" prot="public" static="no" mutable="no">
+        <type>function test</type>
+        <definition>vn</definition>
+        <argsstring></argsstring>
+        <name>vn</name>
+        <initializer> [5,50,200,500]
+if 0
+	et =zeros(1,4)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="5" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="3" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_1faae8a8c8b5cb8c570f99a90d0b1a7a2" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>et2</definition>
+        <argsstring></argsstring>
+        <name>et2</name>
+        <initializer>zeros(1,4)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="6" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="6" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_17d4c6cf9e8823d396182dc827145cf0f" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>idn</definition>
+        <argsstring></argsstring>
+        <name>idn</name>
+        <initializer> 1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="8" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="8" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_19d3d9048db16a7eee539e93e3618cbe7" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <initializer>rand(n)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="11" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_1aa53ca0b650dfd85c4f59fa156f7a2cc" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <initializer>rand(n)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="11" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_18fb092330ecda60587643305d0d9738a" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>tic</definition>
+        <argsstring></argsstring>
+        <name>tic</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="12" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="12" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_16f6ccfcf58b31cb6412107d9d5281426" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for i</definition>
+        <argsstring></argsstring>
+        <name>i</name>
+        <initializer>1:10
+			C=matmult(A,B)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="14" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="13" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_1e578c3c92b65b0d474de55c0de5d3c1c" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>exec_times_b</definition>
+        <argsstring></argsstring>
+        <name>exec_times_b</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="38" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="38" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_1dbe064225003a4d1c1803bae5526584a" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>XScale</definition>
+        <argsstring></argsstring>
+        <name>XScale</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="44" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="blas__test_8m_11c73327b2882639bc9f5e416bb3cc7ac" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for k</definition>
+        <argsstring></argsstring>
+        <name>k</name>
+        <initializer>1:size(A,2)
+			sum=sum+A(i,k)*B(k,j)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="55" bodyfile="/home/smidl/work/git/mixpp/matlab/blas_test.m" bodystart="54" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="blas__test_8m_17259bae7a24c307ccbd999852c3c3f0b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end et</definition>
+        <argsstring>(idn)</argsstring>
+        <name>et</name>
+        <param>
+          <type>idn</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="16"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_1813cbdb0e2c76fbccef2eb27809f79b7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end et2</definition>
+        <argsstring>(idn)</argsstring>
+        <name>et2</name>
+        <param>
+          <type>idn</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="22"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_113dba1318100ed909305716d755c5fad" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end save blas_test else load blas_test end</type>
+        <definition>end save blas_test else load blas_test end itload</definition>
+        <argsstring>(&apos;../blas_test.it&apos;) figure plot(vn</argsstring>
+        <name>itload</name>
+        <param>
+          <type>&apos;../blas_test.it&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="34"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_1dbb8dd47de0f380303cb10e5533a7be3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end save blas_test else load blas_test end et hold on</type>
+        <definition>end save blas_test else load blas_test end et hold on plot</definition>
+        <argsstring>(vn, et2,&apos;r&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>vn</type>
+        </param>
+        <param>
+          <type>et2</type>
+        </param>
+        <param>
+          <type>&apos;r&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="36"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_14af69a1d5e44121cbcc4dc2db70aa2c8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(vn, exec_times,&apos;--&apos;) plot(vn</argsstring>
+        <name>plot</name>
+        <param>
+          <type>vn</type>
+        </param>
+        <param>
+          <type>exec_times</type>
+        </param>
+        <param>
+          <type>&apos;--&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="38"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_1fafd47aa0d35aa70b077df30314d010a" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>&apos;For cycle vs.BLAS&apos;</type>
+        <definition>&apos;For cycle vs. BLAS&apos; title</definition>
+        <argsstring>()</argsstring>
+        <name>title</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="40"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_1deee4e8a013af7477b9161ee6319b2e1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>ylabel</definition>
+        <argsstring>(&apos;execution time&apos;)</argsstring>
+        <name>ylabel</name>
+        <param>
+          <type>&apos;execution time&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="41"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_174d0130845cc181e5a192017be025ebc" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>xlabel</definition>
+        <argsstring>(&apos;matrix size&apos;)</argsstring>
+        <name>xlabel</name>
+        <param>
+          <type>&apos;matrix size&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="42"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_1af91eb79abc9ac412d1d91f58815ec67" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>set</definition>
+        <argsstring>(gca,&apos;YScale&apos;,&apos;log&apos;) set(gca</argsstring>
+        <name>set</name>
+        <param>
+          <type>gca</type>
+        </param>
+        <param>
+          <type>&apos;YScale&apos;</type>
+        </param>
+        <param>
+          <type>&apos;log&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="44"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_1a31ca403c5d9830bfec8020f97b49f29" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>log</type>
+        <definition>set</definition>
+        <argsstring>(gcf,&apos;PaperPositionMode&apos;,&apos;auto&apos;)</argsstring>
+        <name>set</name>
+        <param>
+          <type>gcf</type>
+        </param>
+        <param>
+          <type>&apos;PaperPositionMode&apos;</type>
+        </param>
+        <param>
+          <type>&apos;auto&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="45"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_140f1ff81e146b59be9e0e751c5999e9e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>legend</definition>
+        <argsstring>(&apos;matlab for&apos;,&apos;matlab blas&apos;,&apos;IT++for&apos;,&apos;IT++blas&apos;,&apos;C array&apos;) function C</argsstring>
+        <name>legend</name>
+        <param>
+          <type>&apos;matlab for&apos;</type>
+        </param>
+        <param>
+          <type>&apos;matlab blas&apos;</type>
+        </param>
+        <param>
+          <type>&apos;IT++for&apos;</type>
+        </param>
+        <param>
+          <type>&apos;IT++blas&apos;</type>
+        </param>
+        <param>
+          <type>&apos;C array&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="53"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8m_12e886bc4c32028e9eace6190eae03c42" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end C</definition>
+        <argsstring>(i, j)</argsstring>
+        <name>C</name>
+        <param>
+          <type>i</type>
+        </param>
+        <param>
+          <type>j</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m" line="57"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">function<sp/>test</highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal">vn<sp/>=<sp/></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>0</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>et<sp/>=zeros(1,4);</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>et2<sp/>=zeros(1,4);</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>idn<sp/>=<sp/>1;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vn<sp/>=<sp/></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>n=<sp/>vn</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A=rand(n);B=rand(n);C=rand(n);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tic;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:10</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C=matmult(A,B);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>et(idn)<sp/>=<sp/>toc;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tic;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:10</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C=A*B;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>et2(idn)<sp/>=<sp/>toc;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>idn<sp/>=idn+1;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>save<sp/>blas_test</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>load<sp/>blas_test</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal">itload(</highlight><highlight class="stringliteral">&apos;../blas_test.it&apos;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal">figure</highlight></codeline>
+<codeline lineno="34"><highlight class="normal">plot(vn,et)</highlight></codeline>
+<codeline lineno="35"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="36"><highlight class="normal">plot(vn,et2,&apos;r&apos;);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal">plot(vn,exec_times,&apos;--&apos;)</highlight></codeline>
+<codeline lineno="38"><highlight class="normal">plot(vn,exec_times_b,&apos;r--&apos;)</highlight></codeline>
+<codeline lineno="39"><highlight class="normal">plot(vn,exec_times_c,&apos;g--&apos;)</highlight></codeline>
+<codeline lineno="40"><highlight class="normal">title(&apos;For<sp/>cycle<sp/>vs.<sp/>BLAS&apos;);</highlight></codeline>
+<codeline lineno="41"><highlight class="normal">ylabel(&apos;execution<sp/>time&apos;);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">xlabel(&apos;matrix<sp/>size&apos;);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal">set(gca,&apos;YScale&apos;,&apos;log&apos;)</highlight></codeline>
+<codeline lineno="44"><highlight class="normal">set(gca,&apos;XScale&apos;,&apos;log&apos;)</highlight></codeline>
+<codeline lineno="45"><highlight class="normal">set(gcf,&apos;PaperPositionMode&apos;,&apos;auto&apos;);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal">legend(&apos;matlab<sp/>for&apos;,&apos;matlab<sp/>blas&apos;,&apos;IT++<sp/>for&apos;,&apos;IT++<sp/>blas&apos;,&apos;C<sp/>array&apos;)</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal">function<sp/>C=matmult(A,B)</highlight></codeline>
+<codeline lineno="51"><highlight class="normal">for<sp/>i=1:size(A,1)</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>j=1:size(A,2)</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum=0;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>k=1:size(A,2)</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum=sum+A(i,k)*B(k,j);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C(i,j)=sum;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="59"><highlight class="normal">end</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/blas_test.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/simul_8cpp.xml
===================================================================
--- /doc/xml/simul_8cpp.xml (revision 187)
+++ /doc/xml/simul_8cpp.xml (revision 187)
@@ -0,0 +1,1089 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="simul_8cpp" kind="file">
+    <compoundname>simul.cpp</compoundname>
+    <includes local="no">stdio.h</includes>
+    <includes local="no">math.h</includes>
+    <includes refid="pmsm__mod_8h" local="yes">pmsm_mod.h</includes>
+    <includes refid="pwm_8h" local="yes">pwm.h</includes>
+    <includes refid="ekf__example_2regulace_8h" local="yes">regulace.h</includes>
+    <includes refid="ekf_8h" local="yes">ekf.h</includes>
+    <incdepgraph>
+      <node id="796">
+        <label>pwm.h</label>
+        <link refid="pwm_8h-source"/>
+      </node>
+      <node id="792">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp</label>
+        <link refid="simul.cpp"/>
+        <childnode refid="793" relation="include">
+        </childnode>
+        <childnode refid="794" relation="include">
+        </childnode>
+        <childnode refid="795" relation="include">
+        </childnode>
+        <childnode refid="796" relation="include">
+        </childnode>
+        <childnode refid="797" relation="include">
+        </childnode>
+        <childnode refid="798" relation="include">
+        </childnode>
+      </node>
+      <node id="798">
+        <label>ekf.h</label>
+        <link refid="ekf_8h-source"/>
+      </node>
+      <node id="794">
+        <label>math.h</label>
+      </node>
+      <node id="797">
+        <label>regulace.h</label>
+        <link refid="ekf__example_2regulace_8h-source"/>
+      </node>
+      <node id="793">
+        <label>stdio.h</label>
+      </node>
+      <node id="795">
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+        <inbodydescription>
+        </inbodydescription>
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+      </memberdef>
+      <memberdef kind="variable" id="simul_8cpp_1c2c4cdb6b240bd1c6e53933987a33a27" prot="public" static="no" mutable="no">
+        <type>unsigned int</type>
+        <definition>unsigned int h_model_counter_mez</definition>
+        <argsstring></argsstring>
+        <name>h_model_counter_mez</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="46" bodyend="-1"/>
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+        <argsstring>[2]</argsstring>
+        <name>u</name>
+        <initializer>{0.,0.}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+      <memberdef kind="variable" id="simul_8cpp_1a99b7cd727bdf0b27735f124f671b5ec" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double us[2]</definition>
+        <argsstring>[2]</argsstring>
+        <name>us</name>
+        <initializer>{0.,0.}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+      <memberdef kind="variable" id="simul_8cpp_1d900a67bffe289dfbb015b908a2d1685" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double Isd</definition>
+        <argsstring></argsstring>
+        <name>Isd</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+      <memberdef kind="variable" id="simul_8cpp_11c6d368fcf2a6b1c92e39c124d25d737" prot="public" static="no" mutable="no">
+        <type>double</type>
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+        <argsstring></argsstring>
+        <name>Isq</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="50" bodyend="-1"/>
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+        <type>double</type>
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+        <argsstring></argsstring>
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+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
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+        <argsstring></argsstring>
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+        <briefdescription>
+        </briefdescription>
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+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+        <type>int</type>
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+        <argsstring></argsstring>
+        <name>reg_counter</name>
+        <initializer>1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
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+        <argsstring></argsstring>
+        <name>print_counter</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="52" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="52" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simul_8cpp_1064de958d18436493182e197377134a4" prot="public" static="yes" mutable="no">
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+        <argsstring></argsstring>
+        <name>Idwf</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+        <type>double</type>
+        <definition>double Iqwf</definition>
+        <argsstring></argsstring>
+        <name>Iqwf</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="53" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="53" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simul_8cpp_1f828dddefd5bf343c700078edbfe976b" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Urm_max</definition>
+        <argsstring></argsstring>
+        <name>Urm_max</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="53" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="53" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simul_8cpp_16aeb156dc0caed63358169c7a12fce45" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Ww</definition>
+        <argsstring></argsstring>
+        <name>Ww</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="53" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="53" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simul_8cpp_18dbbdf63080ba5ad2d5da148ae6fcd9b" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double rychlost</definition>
+        <argsstring></argsstring>
+        <name>rychlost</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="55" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="55" bodyend="-1"/>
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+      <memberdef kind="variable" id="simul_8cpp_1639a3957145f3b5dd034811cb4b4cf3f" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Isx</definition>
+        <argsstring></argsstring>
+        <name>Isx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+      <memberdef kind="variable" id="simul_8cpp_109325d9dd09d541bdd3f9e9ff27a05d5" prot="public" static="yes" mutable="no">
+        <type>double</type>
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+        <argsstring></argsstring>
+        <name>Isy</name>
+        <briefdescription>
+        </briefdescription>
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+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="57" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="57" bodyend="-1"/>
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+        <argsstring></argsstring>
+        <name>theta</name>
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+        </inbodydescription>
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+      <memberdef kind="variable" id="simul_8cpp_1de1d5111a11820d46acfc64a452ab2c5" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Uc_mer</definition>
+        <argsstring></argsstring>
+        <name>Uc_mer</name>
+        <briefdescription>
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+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+        <argsstring></argsstring>
+        <name>k_rampa</name>
+        <initializer>1</initializer>
+        <briefdescription>
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+        </inbodydescription>
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+        <initializer>0</initializer>
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+      <memberdef kind="variable" id="simul_8cpp_1cfe22be9f0bdae5786d82ef3af196b96" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double tmp_uhel</definition>
+        <argsstring></argsstring>
+        <name>tmp_uhel</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
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+      <memberdef kind="variable" id="simul_8cpp_1b6913f657dfd030fb7aa579f91373a56" prot="public" static="yes" mutable="no">
+        <type>double</type>
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+        <argsstring>[2]</argsstring>
+        <name>ekf_estim</name>
+        <initializer>{0.,0.}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="66" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="66" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="simul_8cpp_111ee841a5cbfa0e9d39dc9d7ba004e24" prot="public" static="no" mutable="no">
+        <type>FILE *</type>
+        <definition>FILE* fw</definition>
+        <argsstring></argsstring>
+        <name>fw</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="68" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="68" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="simul_8cpp_1800fae1adc0ea6fe215865c3708c4d7a" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>static void sim_init</definition>
+        <argsstring>(void)</argsstring>
+        <name>sim_init</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="70" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="72" bodyend="99"/>
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+      <memberdef kind="function" id="simul_8cpp_1840291bc02cba5474a4cb46a9b9566fe" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>(void)</argsstring>
+        <name>main</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" line="102" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp" bodystart="101" bodyend="268"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*<sp/>Hlavni<sp/>simulacni<sp/>program</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/>Simulace<sp/>tramvaje<sp/>s<sp/>PMSM<sp/>v<sp/>plovouci<sp/>radove<sp/>carce</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>Presne<sp/>parametry<sp/>tramvaje<sp/>Skoda<sp/>15T</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>31.5.2007</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">REV.<sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="10"><highlight class="comment">31.5.<sp/>2007<sp/><sp/><sp/><sp/><sp/><sp/>Doplnena<sp/>moznost<sp/>provozu<sp/>PWM<sp/>se<sp/>3.<sp/>harmonickou<sp/>-<sp/>konstanta<sp/>MODULACE<sp/>nastavuje<sp/>typ<sp/>modulace</highlight></codeline>
+<codeline lineno="11"><highlight class="comment">25.6.<sp/>2007<sp/><sp/><sp/><sp/><sp/><sp/>Vyrazen<sp/>ss<sp/>obvod<sp/>a<sp/>trolej<sp/>(uvazovano<sp/>konst.<sp/>napeti<sp/>na<sp/>troleji)<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="12"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stdio.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm_mod.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pwm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;regulace.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;ekf.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Qm<sp/><sp/><sp/><sp/><sp/><sp/>13</highlight></codeline>
+<codeline lineno="22"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>CHYBA_POLOHY<sp/><sp/><sp/><sp/>(0./180.*M_PI)<sp/><sp/>//<sp/>chyba<sp/>+/-8<sp/>stupnu<sp/>elektrickych<sp/>pro<sp/>senzorovany<sp/>loziskovy<sp/>stit</highlight></codeline>
+<codeline lineno="23"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>MODULACE<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>1<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>0...sinusova<sp/>PWM,<sp/>1...PWM<sp/>se<sp/>3.harmonickou</highlight></codeline>
+<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>REZIM_REGULACE<sp/><sp/>1<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>0...reg.<sp/>momentu,<sp/>1...reg.rychlosti,<sp/>2...<sp/>Isqw=sqrt(Imax^2-Id^2)<sp/>-<sp/>max.<sp/>moment</highlight></codeline>
+<codeline lineno="26"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>param[7]={0.28,0.003465,0.1989,0.0,4,1.5,0.04};</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="comment">//<sp/>[Rs,<sp/>Ls,<sp/>Fmag,<sp/>Bf,<sp/>p,<sp/>kp,<sp/>J<sp/>=<sp/>0.04?];</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>REL[6],<sp/>REL1[6]={1.,1.,1.,1.,1.,1.};</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="comment">//<sp/>REL<sp/>=<sp/>[Ur,<sp/>Ir,<sp/>wr,<sp/>thetar,<sp/>Mr,<sp/>Fr];</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT=3e-6;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>mrtve<sp/>casy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>va_char[16]={0,10,50,100,200,300,500,1000,<sp/>0,1,1.8,2.4,3.2,3.8,4.8,6.8};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet=8;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>VA-charky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//<sp/>trolejovy<sp/>filtr</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="comment">//static<sp/>double<sp/>Rf=22e-3,Lf=1.8e-3,Cf=10e-3;<sp/><sp/><sp/><sp/>//<sp/>filtr<sp/>VEKTRA</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rf=5e-3,Lf=1e-3,Cf=1e-3;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>filtr<sp/>15T</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="comment">//<sp/>parametry<sp/>ss<sp/>obvodu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ut,Uc,Ucn,It,Iz;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">//<sp/>modulace<sp/>a<sp/>skalarni<sp/>rizeni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,fr,fs;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>t,<sp/>t_end,<sp/>t_sense;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,hx,h_disp=0;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h_reg,h_model,hpom,hpom_model;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>h_model_counter,h_model_counter_mez;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>u[2]={0.,0.};<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>u={Um,<sp/>beta}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>us[2]={0.,0.};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>us={us_alfa,<sp/>us_beta}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isd,<sp/>Isq,<sp/>Fr,<sp/>Fs;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>reg_counter=1,<sp/>print_counter=0;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idwf,Iqwf,Urm_max,Ww;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost;</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/>Isy;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta;</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc_mer;</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>k_rampa=1,<sp/>k_rampa_tmp=0;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>tmp_uhel=0;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight><highlight class="comment">//<sp/>EKF<sp/>-<sp/>vysledek<sp/>estimace</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ekf_estim[2]={0.,0.};<sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>w_est,<sp/>theta_est</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal">FILE<sp/>*fw;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>sim_init(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>sim_init(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="73"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>parametry<sp/>troleje<sp/>a<sp/>modulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/>Ucn=600.;Ut=200.;Uc=Ut;It=0.;Iz=0.;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/>fc=4000.;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vzorkovani</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/>h_reg=1./2./fc;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/>h_model=h_reg;</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/>hpom=h;hpom_model=h;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vzorkovani<sp/>pomoci<sp/>citacu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/>h_model_counter_mez=(int)(h_model/h);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/>h_model_counter=h_model_counter_mez;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/>fs=0.;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zadani<sp/>primo<sp/>v<sp/>Hz</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>fs=700.1*(param[4]/60.);<sp/><sp/><sp/><sp/>//<sp/>zadani<sp/>pres<sp/>mechanicke<sp/>otacky<sp/>fs=n*pp/60</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>pocatecni<sp/>stav<sp/>motoru</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/>x[0]=0.;x[1]=0.;x[3]=0.;x[4]=0.;x[5]=0.;x[6]=0.;x[7]=0.;x[8]=0.;</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/>x[2]=2.*M_PI*fs;<sp/><sp/></highlight><highlight class="comment">//<sp/>konstantni<sp/>rychlost</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/>x[3]=M_PI/10.;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>REL[0]=600;<sp/>REL[1]=12.0*sqrt(2);<sp/>REL[2]=2*M_PI*200;<sp/>REL[3]=3.14159;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>REL[4]=17.8;REL[5]=1.0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>parametry<sp/>pro<sp/>v�kon<sp/>PMSM<sp/>6kW!!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/>Isx=0.;Isy=0.;theta=x[3];rychlost=x[2];Uc_mer=Uc;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="102"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/>h=1e-6;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/>t_end=9.;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>profil<sp/>Isq<sp/>5s,<sp/>rozbeh<sp/>12s,<sp/>rozbeh<sp/>+/-<sp/>20s,<sp/>reverzace<sp/>12s</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/>t_sense=0.0;<sp/></highlight><highlight class="comment">//<sp/>1.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/>t=h;</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/>sim_init();</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>pwm_full_new_init(h,fc,DT,0,1,1);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/>pwm_full_new_init_3h(h,fc,DT,0,-1,-1);</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/>init_pmsm(param,<sp/>REL1);</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/>init_regulace(param,h_reg);</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/>init_ekf(h_reg,param);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/>fw=fopen(</highlight><highlight class="stringliteral">&quot;data/graf1.txt&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;w&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/>Idwf=0.;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/>Ww=0.;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/>Iqwf=0.;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(t&lt;=t_end)</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/>pwm_full_new_3h(us,u,&amp;Iz,Ucn,Uc,x,va_char,pocet,MODULACE);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>mod=0<sp/>...<sp/>sinusova<sp/>PWM,<sp/>mod=1<sp/>...<sp/>3.<sp/>harmonicka</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/>pmsm_double(*us,*(us+1),h,5);</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(h_model_counter&gt;=h_model_counter_mez)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pocatek<sp/>ISR</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(reg_counter&gt;-1)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>reg.<sp/>smycka<sp/>jede<sp/>v<sp/>kazdem<sp/>ISR<sp/>=&gt;<sp/>reg_counter&gt;-1,<sp/>jinak<sp/>jako<sp/>u<sp/>ASM<sp/>reg_counter&gt;1</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;.05)<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>0.05</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>skokova<sp/>zmena<sp/>Isqw</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Iqwf=30.;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zmena<sp/>Isqw<sp/>po<sp/>rampa<sp/>-<sp/>profil</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Iqwf+=k_rampa*0.0125;<sp/>//<sp/>0.055</highlight></codeline>
+<codeline lineno="138"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(Iqwf&gt;30.)<sp/>{Iqwf=30.;<sp/>if<sp/>(k_rampa_tmp&lt;8000)<sp/>k_rampa_tmp++;<sp/>else<sp/>{k_rampa=-1;k_rampa_tmp=0;}}</highlight></codeline>
+<codeline lineno="139"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(Iqwf&lt;-30.)<sp/>{Iqwf=-30.;<sp/>if<sp/>(k_rampa_tmp&lt;8000)<sp/>k_rampa_tmp++;<sp/>else<sp/>{k_rampa=1;k_rampa_tmp=0;}}</highlight></codeline>
+<codeline lineno="140"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>((t&gt;3.)<sp/>&amp;&amp;<sp/>(Iqwf&gt;0))<sp/>Iqwf=0;<sp/>/*<sp/>konec<sp/>profilu<sp/>Isqw<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(Iqwf&gt;0)<sp/>Iqwf=0;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight></codeline>
+<codeline lineno="143"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(Ww&lt;2.*M_PI*275.)<sp/>Ww+=2.*M_PI*0.0125;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(Ww&gt;-2.*M_PI*275.)<sp/>Ww-=2.*M_PI*0.0125;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww=2.*M_PI*180;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>jednoducha<sp/>reverzace<sp/>-<sp/>cely<sp/>dej<sp/>cca<sp/>11s</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww+=k_rampa*2.*M_PI*0.125/2.;<sp/><sp/><sp/><sp/>//1000Hz/s</highlight></codeline>
+<codeline lineno="148"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(Ww&gt;2.*M_PI*150.)<sp/>{Ww=2.*M_PI*150.;<sp/>if<sp/>(k_rampa_tmp&lt;8000)<sp/>k_rampa_tmp++;<sp/>else<sp/>{k_rampa=-1;k_rampa_tmp=0;}}</highlight></codeline>
+<codeline lineno="149"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(Ww&lt;-2.*M_PI*150.)<sp/>Ww=-2.*M_PI*150.;<sp/><sp/><sp/>/*<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>skokova<sp/>zmena<sp/>napeti<sp/>troleje</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ut=500;<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>nutno<sp/>zadat<sp/>konstantni<sp/>Isdw<sp/>pri<sp/>startu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.2)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.4)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.6)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;0.7)<sp/>Ww=2.*M_PI*10.;</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.0)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.2)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.4)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.6)<sp/>Ww=2.*M_PI*50.;</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;1.9)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.1)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.3)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="169"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.5)<sp/>Ww=2.*M_PI*100;</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;2.8)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.0)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.2)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="174"><highlight class="normal"></highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.4)<sp/>Ww=2.*M_PI*150;</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.7)<sp/>x[8]=1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;3.9)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.1)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.3)<sp/>Ww=2.*M_PI*0;</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;4.8)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.0)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.2)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"></highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.4)<sp/>Ww=2.*M_PI*(-10.);</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;5.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="189"><highlight class="normal"></highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.3)<sp/>Ww=2.*M_PI*(-50.);</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;6.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="194"><highlight class="normal"></highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.3)<sp/>Ww=2.*M_PI*(-100.);</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.7)<sp/>x[8]=-1.2;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;7.9)<sp/>x[8]=-10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.1)<sp/>x[8]=-25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.3)<sp/>x[8]=10.8;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>9A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;8.5)<sp/>x[8]=25.2;<sp/><sp/></highlight><highlight class="comment">//<sp/>21A</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"></highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>letmy<sp/>start<sp/>s<sp/>nenulovym<sp/>momentem</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="204"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Iqwf=149.*sqrt(2.);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pomal�<sp/>rozjezd<sp/>10s<sp/>do<sp/>max.<sp/>rychlosti<sp/>700rpm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Iqwf=149.*sqrt(2.);<sp/><sp/><sp/><sp/><sp/>//<sp/>konst.<sp/>Isqw<sp/>=<sp/>Imax</highlight></codeline>
+<codeline lineno="208"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x[2]+=2.*M_PI*0.004;</highlight></codeline>
+<codeline lineno="209"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(x[2]&gt;1615)<sp/>x[2]=1615;</highlight></codeline>
+<codeline lineno="210"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(x[2]&lt;-1615)<sp/>x[2]=-1615;<sp/><sp/><sp/><sp/><sp/>/*<sp/>osetreni<sp/>pro<sp/>test<sp/>rozjezdu<sp/>do<sp/>zapornych<sp/>otacek<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="211"><highlight class="normal"></highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rampa<sp/>rozjezd<sp/>5s<sp/>do<sp/>max.<sp/>rychlosti<sp/>700rpm<sp/>a<sp/>10s<sp/>do<sp/>-700rpm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="213"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Iqwf=149.*sqrt(2.);<sp/><sp/><sp/><sp/><sp/>//<sp/>konst.<sp/>Isqw<sp/>=<sp/>Imax</highlight></codeline>
+<codeline lineno="214"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x[2]+=k_rampa*2.*M_PI*0.008;</highlight></codeline>
+<codeline lineno="215"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(x[2]&gt;1615)<sp/>{x[2]=1615;<sp/>if<sp/>(k_rampa_tmp&lt;24000)<sp/>k_rampa_tmp++;<sp/>else<sp/>{k_rampa=-1;k_rampa_tmp=0;}}</highlight></codeline>
+<codeline lineno="216"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>if<sp/>(x[2]&lt;-1615)<sp/>x[2]=-1615;<sp/><sp/>/**/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal"></highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>KALMAN</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ekf(ekf_estim,*u,*(u+1),Ucn,Uc_mer,Isx,Isy);</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"></highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>vystup<sp/>z<sp/>EKF<sp/>zaveden<sp/>do<sp/>regulatoru</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rychlost=ekf_estim[0];<sp/>theta=ekf_estim[1];<sp/>//VS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"></highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Urm_max=1.0;</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"></highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>idealni<sp/>vzorkovani<sp/>-<sp/>test<sp/>vlivu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="227"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Isx=x[0];Isy=x[1];rychlost=x[2];theta=x[3];Uc_mer=Uc;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="228"><highlight class="normal"></highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(MODULACE==0)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>sinusova<sp/>PWM</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vektor_regulace(Idwf,Iqwf,Urm_max,Ww,u,Isx,Isy,theta,rychlost,Ucn/2.,Uc_mer,Ucn,REZIM_REGULACE);<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=1<sp/>...<sp/>reg.<sp/>rychlosti,<sp/>rezim=0<sp/>...<sp/>reg.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=2<sp/>...<sp/>Iqw=sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vektor_regulace(Idwf,Iqwf,Urm_max,Ww,u,Isx,Isy,theta,rychlost,Ucn/sqrt(3.),Uc_mer,Ucn,REZIM_REGULACE);</highlight><highlight class="comment">//<sp/>rezim=1<sp/>...<sp/>reg.<sp/>rychlosti,<sp/>rezim=0<sp/>...<sp/>reg.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=2<sp/>...<sp/>Iqw=sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="235"><highlight class="normal"></highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>reg_counter=0;</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Isx=x[0];Isy=x[1];rychlost=x[2];theta=x[3]+CHYBA_POLOHY;Uc_mer=Uc;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>re�ln�<sp/>vzorkov�n�</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>hpom_model=0;</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>h_model_counter=0;</highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>reg_counter++;</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"></highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(t&gt;=t_sense)</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(print_counter&gt;199)</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/>fprintf(fw,</highlight><highlight class="stringliteral">&quot;%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>%f<sp/>\n&quot;</highlight><highlight class="normal">,t,x[0],x[1],x[6],*ladeni_regulace,x[7],*(ladeni_regulace+2),x[4],x[5],x[3],x[2],Ww,*(ladeni_regulace+1),Urm_max,*(ladeni_regulace+4),*(ladeni_regulace+5),x[10],*(ladeni_regulace+6),Uc,<sp/>*(ladeni_regulace+7),ladeni_pila,ladeni_ur,*(ladeni_regulace+8),*(ladeni_regulace+9),ekf_estim[0],ekf_estim[1]);</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>t,<sp/>Isx,<sp/>Isy,<sp/>Isd,<sp/>Isdw,<sp/>Isq,<sp/>Isqw,<sp/>M,<sp/>Fs,<sp/>poloha,<sp/>rychlost,<sp/>rychlost_w,<sp/>Urm,<sp/>Urm_max,</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Fs_model,<sp/>M_model,<sp/>zatezny<sp/>uhel<sp/>(beta),<sp/>zatezny<sp/>uhel<sp/>vypocteny<sp/>z<sp/>napeti<sp/>(zbeta),<sp/>Uc</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>print_counter=0;</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="251"><highlight class="normal"></highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(h_disp&gt;0.2)</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/>{<sp/>printf(</highlight><highlight class="stringliteral">&quot;%f<sp/>\n&quot;</highlight><highlight class="normal">,t);</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>h_disp=0;</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"></highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/>t+=h;</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"><sp/><sp/><sp/><sp/>hpom+=h;</highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/><sp/><sp/>hpom_model+=h;</highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/><sp/><sp/>h_model_counter++;</highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/><sp/><sp/>h_disp+=h;</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/>print_counter++;</highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"></highlight></codeline>
+<codeline lineno="265"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>printf(&quot;***<sp/>\n\n&quot;);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/>fclose(fw);</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/>}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/userinfo_8cpp.xml
===================================================================
--- /doc/xml/userinfo_8cpp.xml (revision 187)
+++ /doc/xml/userinfo_8cpp.xml (revision 187)
@@ -0,0 +1,256 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="userinfo_8cpp" kind="file">
+    <compoundname>userinfo.cpp</compoundname>
+    <includes refid="userinfo_8h" local="yes">userinfo.h</includes>
+    <incdepgraph>
+      <node id="471">
+        <label>xercesc/framework/LocalFileInputSource.hpp</label>
+      </node>
+      <node id="469">
+        <label>xercesc/util/XMLString.hpp</label>
+      </node>
+      <node id="457">
+        <label>work/git/mixpp/bdm/userinfo.cpp</label>
+        <link refid="userinfo.cpp"/>
+        <childnode refid="458" relation="include">
+        </childnode>
+      </node>
+      <node id="473">
+        <label>xercesc/parsers/XercesDOMParser.hpp</label>
+      </node>
+      <node id="462">
+        <label>string</label>
+      </node>
+      <node id="464">
+        <label>map</label>
+      </node>
+      <node id="458">
+        <label>userinfo.h</label>
+        <link refid="userinfo_8h-source"/>
+        <childnode refid="459" relation="include">
+        </childnode>
+        <childnode refid="460" relation="include">
+        </childnode>
+        <childnode refid="461" relation="include">
+        </childnode>
+        <childnode refid="462" relation="include">
+        </childnode>
+        <childnode refid="463" relation="include">
+        </childnode>
+        <childnode refid="464" relation="include">
+        </childnode>
+        <childnode refid="465" relation="include">
+        </childnode>
+        <childnode refid="466" relation="include">
+        </childnode>
+        <childnode refid="467" relation="include">
+        </childnode>
+        <childnode refid="468" relation="include">
+        </childnode>
+        <childnode refid="469" relation="include">
+        </childnode>
+        <childnode refid="470" relation="include">
+        </childnode>
+        <childnode refid="471" relation="include">
+        </childnode>
+        <childnode refid="472" relation="include">
+        </childnode>
+        <childnode refid="473" relation="include">
+        </childnode>
+      </node>
+      <node id="463">
+        <label>typeinfo</label>
+      </node>
+      <node id="466">
+        <label>vector</label>
+      </node>
+      <node id="465">
+        <label>utility</label>
+      </node>
+      <node id="459">
+        <label>sstream</label>
+      </node>
+      <node id="460">
+        <label>iostream</label>
+      </node>
+      <node id="472">
+        <label>xercesc/dom/DOMWriter.hpp</label>
+      </node>
+      <node id="470">
+        <label>xercesc/framework/LocalFileFormatTarget.hpp</label>
+      </node>
+      <node id="467">
+        <label>xercesc/dom/DOM.hpp</label>
+      </node>
+      <node id="468">
+        <label>xercesc/util/PlatformUtils.hpp</label>
+      </node>
+      <node id="461">
+        <label>stdio.h</label>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>Implementation:<sp/>itpp_ext</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Description:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Author:<sp/>smidl<sp/>&lt;smidl@utia.cas.cz&gt;,<sp/>(C)<sp/>2008</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Copyright:<sp/>See<sp/>COPYING<sp/>file<sp/>that<sp/>comes<sp/>with<sp/>this<sp/>distribution</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;userinfo.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15" refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" refkind="member"><highlight class="normal"><ref refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" kindref="member" tooltip="default constructor">BindingFrame::BindingFrame</ref>()</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>dummy()</highlight></codeline>
+<codeline lineno="17"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20" refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/><ref refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" kindref="member" tooltip="function which transcodes Xerces&amp;#39; XMLCh-based strings into C++ strings">BindingFrame::XMLCh2str</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>XMLCh*<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>XMLCh_str<sp/>)</highlight></codeline>
+<codeline lineno="21"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>*local<sp/>=<sp/>XMLString::transcode(<sp/>XMLCh_str<sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>res<sp/>=<sp/>local;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::release(<sp/>&amp;local<sp/>);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>res;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29" refid="classAttribute_14c4c80e6b59e3356324ef02d0e92d813" refkind="member"><highlight class="normal"><ref refid="classAttribute_14c4c80e6b59e3356324ef02d0e92d813" kindref="member" tooltip="Default constructor fixing a name of the related attribute.">Attribute::Attribute</ref>(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>attributeName<sp/>)</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>dummy(),<sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>transcodedAttributeName(<sp/>XMLString::transcode(<sp/>attributeName.c_str()<sp/>)<sp/>)</highlight></codeline>
+<codeline lineno="32"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal">Attribute::~Attribute()</highlight></codeline>
+<codeline lineno="36"><highlight class="normal">{<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::release(<sp/>(XMLCh**)&amp;transcodedAttributeName<sp/>);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40" refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">&amp;<sp/><ref refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" kindref="member" tooltip="This method parse DOMElement, finds proper attribute and returns its value.">Attribute::Get</ref>(<sp/>DOMElement<sp/>&amp;element<sp/>)</highlight><highlight class="keyword"><sp/>const</highlight></codeline>
+<codeline lineno="41"><highlight class="keyword"></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>XMLCh*<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>transcoded_str<sp/>=<sp/>element.getAttribute(<sp/>transcodedAttributeName<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>string(<sp/>XMLString::transcode(<sp/>transcoded_str<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46" refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" kindref="member" tooltip="This method adds the passed string as an new attribute into the passed DOMElement...">Attribute::Set</ref>(<sp/>DOMElement<sp/>&amp;element,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;<ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>)</highlight><highlight class="keyword"><sp/>const</highlight></codeline>
+<codeline lineno="47"><highlight class="keyword"></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>!str.length()<sp/>)<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal">;<sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>XMLCh*<sp/>transcoded_str<sp/>=<sp/>XMLString::transcode(str.c_str());</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>element.setAttribute(<sp/>transcodedAttributeName,<sp/>transcoded_str<sp/>);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::release(<sp/>(XMLCh**)<sp/>&amp;transcoded_str<sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref><sp/><ref refid="classAttribute_1d6474fd976f505e70e10c497199c6770" kindref="member" tooltip="Static member, an instance related to an attribute named &amp;#39;help&amp;#39;.">Attribute::help</ref>(<sp/></highlight><highlight class="stringliteral">&quot;help&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref><sp/><ref refid="classAttribute_15f6cce980606fa8943857204aacb5478" kindref="member" tooltip="Static member, a constant instance related to an attribute named &amp;#39;type&amp;#39;.">Attribute::type</ref>(<sp/></highlight><highlight class="stringliteral">&quot;type&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classAttribute" kindref="compound" tooltip="Abstract class declaring general properties of a frame for data binding.">Attribute</ref><sp/><ref refid="classAttribute_1452441da4ebfda23cdc668943ffe8da7" kindref="member" tooltip="Static member, a constant instance related to the attribute named &amp;#39;value&amp;#39;...">Attribute::value</ref>(<sp/></highlight><highlight class="stringliteral">&quot;value&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal">UserInfo::StringToUIMap::MappedString2UI&amp;<sp/>UserInfo::StringToUIMap::privateMap()</highlight></codeline>
+<codeline lineno="62"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/>MappedString2UI<sp/>var;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>var;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>UserInfo::StringToUIMap::Add(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>key,<sp/>pUserInfo<sp/>pInstance<sp/>)</highlight></codeline>
+<codeline lineno="68"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>privateMap().insert(<sp/>make_pair(<sp/>key,<sp/>pInstance<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="70"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal">UserInfo::pUserInfo<sp/>UserInfo::StringToUIMap::Retrieve(<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>key<sp/>)</highlight></codeline>
+<codeline lineno="73"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>MappedString2UI::const_iterator<sp/>iter<sp/>=<sp/>privateMap().find(<sp/>key<sp/>);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>iter<sp/>==<sp/>privateMap().end())<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>NULL;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>iter-&gt;second;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal">}<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight></codeline>
+<codeline lineno="79" refid="classRootElement_125cd0a3019e91c5bbe8bc09cdf6e61aa" refkind="member"><highlight class="normal"><ref refid="classRootElement_125cd0a3019e91c5bbe8bc09cdf6e61aa" kindref="member" tooltip="attach new RootElement instance to a file (typically with an XML extension)">RootElement::RootElement</ref>(<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>fileName<sp/>)</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>:<sp/>dummy(),</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>transcodedFileName(<sp/>XMLString::transcode(<sp/>fileName<sp/>)<sp/>)</highlight></codeline>
+<codeline lineno="82"><highlight class="normal">{<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>get<sp/>a<sp/>serializer,<sp/>an<sp/>instance<sp/>of<sp/>DOMWriter<sp/>(the<sp/>&quot;LS&quot;<sp/>stands<sp/>for<sp/>load-save).</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pImplementation<sp/>=<sp/>DOMImplementationRegistry::getDOMImplementation(<sp/>XMLString::transcode(<sp/></highlight><highlight class="stringliteral">&quot;LS&quot;</highlight><highlight class="normal"><sp/>));</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pSerializer<sp/>=<sp/>(<sp/>(DOMImplementationLS*)pImplementation<sp/>)-&gt;createDOMWriter();</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>set<sp/>user<sp/>specified<sp/>end<sp/>of<sp/>line<sp/>sequence<sp/>and<sp/>output<sp/>encoding</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pSerializer-&gt;setNewLine(<sp/>XMLString::transcode(<sp/></highlight><highlight class="stringliteral">&quot;\n&quot;</highlight><highlight class="normal"><sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>optionally,<sp/>set<sp/>the<sp/>format-pretty-print<sp/>feature</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(pSerializer-&gt;canSetFeature(XMLUni::fgDOMWRTFormatPrettyPrint,<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">))</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pSerializer-&gt;setFeature(XMLUni::fgDOMWRTFormatPrettyPrint,<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"></highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pDoc<sp/>=<sp/>NULL;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Clean();</highlight></codeline>
+<codeline lineno="95"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal">RootElement::~RootElement()</highlight></codeline>
+<codeline lineno="98"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::release(<sp/>(XMLCh**)&amp;transcodedFileName<sp/>);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pSerializer-&gt;release();</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pDoc-&gt;release();</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classAssertXercesIsAlive" kindref="compound" tooltip="Class initializing Xerces library.">AssertXercesIsAlive</ref><sp/>dummy;<sp/></highlight><highlight class="comment">//<sp/>TODO<sp/>je<sp/>zde<sp/>treba?</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>RootElement::Clean()</highlight></codeline>
+<codeline lineno="107"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>pDoc<sp/>)<sp/>pDoc-&gt;release();</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pDoc<sp/>=<sp/>pImplementation-&gt;createDocument(<sp/></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::transcode(<sp/></highlight><highlight class="stringliteral">&quot;M3K<sp/>USER<sp/>INFO&quot;</highlight><highlight class="normal"><sp/>),<sp/></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XMLString::transcode(<sp/></highlight><highlight class="stringliteral">&quot;ROOT&quot;</highlight><highlight class="normal"><sp/>),<sp/>NULL<sp/>);</highlight></codeline>
+<codeline lineno="112"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight></codeline>
+<codeline lineno="115" refid="classRootElement_1888749537060fd60a939486cd2e73b9b" refkind="member"><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classRootElement_1888749537060fd60a939486cd2e73b9b" kindref="member" tooltip="this method loads root element and all its subnodes from the attached file">RootElement::Load</ref>(<sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>)<sp/></highlight></codeline>
+<codeline lineno="116"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>LocalFileInputSource<sp/>inputSource(<sp/>transcodedFileName<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XercesDOMParser<sp/>parser;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>parser.setValidationScheme(XercesDOMParser::Val_Auto);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>parser.setDoNamespaces(</highlight><highlight class="keyword">false</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>parser.setDoSchema(</highlight><highlight class="keyword">false</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>parser.parse(<sp/>inputSource<sp/>);</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>parser.getErrorCount()<sp/>)</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DOMDocument<sp/>*<sp/>newDoc<sp/>=<sp/>parser.adoptDocument();<sp/><sp/></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>newDoc<sp/>==<sp/>NULL<sp/>)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal">(<sp/>pDoc<sp/>)<sp/></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pDoc-&gt;release();</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pDoc<sp/>=<sp/>newDoc;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="139"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="143" refid="classRootElement_15ce717e64c3b7be09f695e6ede6294db" refkind="member"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classRootElement_15ce717e64c3b7be09f695e6ede6294db" kindref="member" tooltip="this method saves all the previsoulsy attached DOMElements into the file">RootElement::Save</ref><sp/>(<sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>)</highlight></codeline>
+<codeline lineno="144"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>LocalFileFormatTarget<sp/>outputTarget(<sp/>transcodedFileName<sp/>);<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pSerializer-&gt;writeNode(<sp/>&amp;outputTarget,<sp/>*pDoc);</highlight></codeline>
+<codeline lineno="147"><highlight class="normal">}<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight></codeline>
+<codeline lineno="149" refid="classRootElement_19ad2ae1c73d73b06bc98afa0f32d9ad3" refkind="member"><highlight class="normal"><ref refid="classRootElement_19ad2ae1c73d73b06bc98afa0f32d9ad3" kindref="member" tooltip="this operator allows to use a RootElement instance whenever a DOMElement variable...">RootElement::operator DOMElement&amp; </ref>()</highlight></codeline>
+<codeline lineno="150"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*(pDoc-&gt;getDocumentElement());</highlight></codeline>
+<codeline lineno="152"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;&gt;<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;bool&gt;</ref>&amp;<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;bool&gt;::instance</ref><sp/>=<sp/>BoolUI();</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;&gt;<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;int&gt;</ref>&amp;<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;int&gt;::instance</ref><sp/>=<sp/>IntUI();</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;&gt;<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;double&gt;</ref>&amp;<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;double&gt;::instance</ref><sp/>=<sp/>DoubleUI();</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;&gt;<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;string&gt;</ref>&amp;<sp/><ref refid="classTypedUserInfo" kindref="compound" tooltip="TypeUserInfo is still an abstract class, but contrary to the UserInfo class it is...">TypedUserInfo&lt;string&gt;::instance</ref><sp/>=<sp/>StringUI();</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_24b2ca2d1ebd811865a0eb87dcd74770.xml
===================================================================
--- /doc/xml/dir_24b2ca2d1ebd811865a0eb87dcd74770.xml (revision 187)
+++ /doc/xml/dir_24b2ca2d1ebd811865a0eb87dcd74770.xml (revision 187)
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_24b2ca2d1ebd811865a0eb87dcd74770" kind="dir">
+    <compoundname>work/git/mixpp/pmsm/simulator_zdenek/</compoundname>
+    <innerdir refid="dir_5a133335136da3f9c8bb1a415325d6a8">work/git/mixpp/pmsm/simulator_zdenek/demo_example/</innerdir>
+    <innerdir refid="dir_345b5e260735c3ed0e165b33f1d2e0be">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/</innerdir>
+    <innerfile refid="nastaveni__regulatoru__float_8h">nastaveni_regulatoru_float.h</innerfile>
+    <innerfile refid="regulace_8cpp">regulace.cpp</innerfile>
+    <innerfile refid="regulace_8h">regulace.h</innerfile>
+    <innerfile refid="simulator_8cpp">simulator.cpp</innerfile>
+    <innerfile refid="simulator_8h">simulator.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/arx__c_8cpp.xml
===================================================================
--- /doc/xml/arx__c_8cpp.xml (revision 187)
+++ /doc/xml/arx__c_8cpp.xml (revision 187)
@@ -0,0 +1,121 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="arx__c_8cpp" kind="file">
+    <compoundname>arx_c.cpp</compoundname>
+    <includes refid="arx_8h" local="yes">../../bdm/estim/arx.h</includes>
+    <incdepgraph>
+      <node id="504">
+        <label>work/git/mixpp/matlab/mex/arx_c.cpp</label>
+        <link refid="arx_c.cpp"/>
+        <childnode refid="505" relation="include">
+        </childnode>
+      </node>
+      <node id="508">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="506" relation="include">
+        </childnode>
+      </node>
+      <node id="511">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="506" relation="include">
+        </childnode>
+      </node>
+      <node id="509">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="506" relation="include">
+        </childnode>
+        <childnode refid="510" relation="include">
+        </childnode>
+        <childnode refid="508" relation="include">
+        </childnode>
+        <childnode refid="511" relation="include">
+        </childnode>
+      </node>
+      <node id="505">
+        <label>../../bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="506" relation="include">
+        </childnode>
+        <childnode refid="507" relation="include">
+        </childnode>
+        <childnode refid="509" relation="include">
+        </childnode>
+      </node>
+      <node id="507">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="506" relation="include">
+        </childnode>
+        <childnode refid="508" relation="include">
+        </childnode>
+      </node>
+      <node id="506">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="510">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="506" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="arx__c_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/arx_c.cpp" line="5" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/arx_c.cpp" bodystart="5" bodyend="33"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&quot;../../bdm/estim/arx.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>itf(</highlight><highlight class="stringliteral">&quot;DD&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>input<sp/>variables<sp/>to<sp/>IT++<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&gt;&gt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;DD&quot;</highlight><highlight class="normal">)<sp/>&gt;&gt;<sp/>Data;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows();</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/></highlight><highlight class="comment">//V0<sp/>(<sp/>0,0<sp/>)<sp/>*=1.0;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=3;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>estimate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;ndat;i++<sp/>)<sp/>{Ar.bayes<sp/>(<sp/>Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);<sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>th<sp/>=<sp/>Ar._epdf().mean();</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>th<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ll=Ar._ll();</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ll<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>=<sp/>Ar.structure_est<sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>(<sp/>thr,V0,nu0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>str<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/mex/arx_c.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/itpp__ext_8cpp.xml
===================================================================
--- /doc/xml/itpp__ext_8cpp.xml (revision 187)
+++ /doc/xml/itpp__ext_8cpp.xml (revision 187)
@@ -0,0 +1,405 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="itpp__ext_8cpp" kind="file">
+    <compoundname>itpp_ext.cpp</compoundname>
+    <includes refid="itpp__ext_8h" local="yes">itpp_ext.h</includes>
+    <incdepgraph>
+      <node id="264">
+        <label>itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="265" relation="include">
+        </childnode>
+      </node>
+      <node id="263">
+        <label>work/git/mixpp/bdm/itpp_ext.cpp</label>
+        <link refid="itpp_ext.cpp"/>
+        <childnode refid="264" relation="include">
+        </childnode>
+      </node>
+      <node id="265">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+    <innernamespace refid="namespaceitpp">itpp</innernamespace>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="itpp__ext_8cpp_125274c13d478263ec5322541d7bbfeee" prot="public" static="no">
+        <name>log</name>
+        <initializer>std::log</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="78" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="78" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="itpp__ext_8cpp_14bb9b8ff973345c3b4770d31cfb71ea8" prot="public" static="no">
+        <name>exp</name>
+        <initializer>std::exp</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="79" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="itpp__ext_8cpp_1a8418f27fe28830a7fb62322463f15e0" prot="public" static="no">
+        <name>sqrt</name>
+        <initializer>std::sqrt</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="80" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="80" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="itpp__ext_8cpp_11249d579ef7cf8fdc34494c1a20b861d" prot="public" static="no">
+        <name>R_FINITE</name>
+        <initializer>std::isfinite</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" bodystart="81" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="itpp__ext_8cpp_1aa72db0a37eb6b2147942b3007de54fa" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void dgeqrf_</definition>
+        <argsstring>(int *m, int *n, double *a, int *lda, double *tau, double *work, int *lwork, int *info)</argsstring>
+        <name>dgeqrf_</name>
+        <param>
+          <type>int *</type>
+          <declname>m</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>n</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>a</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>lda</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>tau</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>work</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>lwork</declname>
+        </param>
+        <param>
+          <type>int *</type>
+          <declname>info</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp" line="19"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>Implementation:<sp/>itpp_ext</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Description:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Author:<sp/>smidl<sp/>&lt;smidl@utia.cas.cz&gt;,<sp/>(C)<sp/>2008</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Copyright:<sp/>See<sp/>COPYING<sp/>file<sp/>that<sp/>comes<sp/>with<sp/>this<sp/>distribution</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;itpp_ext.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>from<sp/><sp/>algebra/lapack.h</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="stringliteral">&quot;C&quot;</highlight><highlight class="normal"><sp/>{<sp/><sp/></highlight><highlight class="comment">/*<sp/>QR<sp/>factorization<sp/>of<sp/>a<sp/>general<sp/>matrix<sp/>A<sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>dgeqrf_<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*n,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*a,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*lda,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*tau,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*work,</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*lwork,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>*info<sp/>);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">namespace<sp/></highlight><highlight class="normal">itpp<sp/>{</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;int&gt;<sp/>to_Arr<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>ivec<sp/>&amp;indices<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;int&gt;<sp/>a<sp/>(<sp/>indices.size()<sp/>);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;<sp/>i<sp/>&lt;<sp/>a.size();<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>a<sp/>(<sp/>i<sp/>)<sp/>=<sp/>indices<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>a;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>linspace<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>from,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>to<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n=to-from+1;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>n&gt;0,</highlight><highlight class="stringliteral">&quot;wrong<sp/>linspace&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>iv<sp/>(<sp/>n<sp/>);<sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>iv<sp/>(<sp/>i<sp/>)<sp/>=from+i;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>iv;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_subvector<sp/>(<sp/>vec<sp/>&amp;ov,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>ivec<sp/>&amp;iv,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>iv.length()<sp/>&lt;=v.length()<sp/>),</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;Vec&lt;&gt;::set_subvector(ivec,<sp/>vec&lt;Num_T&gt;):<sp/>Indexing<sp/>out<sp/>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;of<sp/>range<sp/>of<sp/>v&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;<sp/>i<sp/>&lt;<sp/>iv.length();<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>iv<sp/>(<sp/>i<sp/>)<sp/>&lt;ov.length(),</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;Vec&lt;&gt;::set_subvector(ivec,<sp/>vec&lt;Num_T&gt;):<sp/>Indexing<sp/>out<sp/>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;of<sp/>range<sp/>of<sp/>v&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ov<sp/>(<sp/>iv<sp/>(<sp/>i<sp/>)<sp/>)<sp/>=<sp/>v<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="comment">//Gamma</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54" refid="classitpp_1_1Gamma__RNG_1e132860f825f427d63652edd02c25b54" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classitpp_1_1Gamma__RNG_1e132860f825f427d63652edd02c25b54" kindref="member" tooltip="constructor. Set lambda.">Gamma_RNG::Gamma_RNG</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>b<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" kindref="member" tooltip="Set lambda.">setup</ref><sp/>(<sp/>a,b<sp/>);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bvec<sp/>operator&amp;<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;a,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;b<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>b.size()<sp/>==a.size(),<sp/></highlight><highlight class="stringliteral">&quot;operator&amp;():<sp/>Vectors<sp/>of<sp/>different<sp/>lengths&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bvec<sp/>temp<sp/>(<sp/>a.size()<sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>a.size();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>temp<sp/>(<sp/>i<sp/>)<sp/>=<sp/>a<sp/>(<sp/>i<sp/>)<sp/>&amp;<sp/>b<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>temp;</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bvec<sp/>operator|<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;a,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;b<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>b.size()<sp/>!=a.size(),<sp/></highlight><highlight class="stringliteral">&quot;operator&amp;():<sp/>Vectors<sp/>of<sp/>different<sp/>lengths&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bvec<sp/>temp<sp/>(<sp/>a.size()<sp/>);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>a.size();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>temp<sp/>(<sp/>i<sp/>)<sp/>=<sp/>a<sp/>(<sp/>i<sp/>)<sp/>|<sp/>b<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>temp;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>log<sp/>std::log</highlight></codeline>
+<codeline lineno="79"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>exp<sp/>std::exp</highlight></codeline>
+<codeline lineno="80"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>sqrt<sp/>std::sqrt</highlight></codeline>
+<codeline lineno="81"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>R_FINITE<sp/>std::isfinite</highlight></codeline>
+<codeline lineno="82"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><sp/>Gamma_RNG::sample()<sp/>{</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//A<sp/>copy<sp/>of<sp/>rgamma<sp/>code<sp/>from<sp/>the<sp/>R<sp/>package!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Constants<sp/>:<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sqrt32<sp/>=<sp/>5.656854;</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>exp_m1<sp/>=<sp/>0.36787944117144232159;</highlight><highlight class="comment">/*<sp/>exp(-1)<sp/>=<sp/>1/e<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Coefficients<sp/>q[k]<sp/>-<sp/>for<sp/>q0<sp/>=<sp/>sum(q[k]*a^(-k))</highlight></codeline>
+<codeline lineno="92"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/>Coefficients<sp/>a[k]<sp/>-<sp/>for<sp/>q<sp/>=<sp/>q0+(t*t/2)*sum(a[k]*v^k)</highlight></codeline>
+<codeline lineno="93"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/>Coefficients<sp/>e[k]<sp/>-<sp/>for<sp/>exp(q)-1<sp/>=<sp/>sum(e[k]*q^k)</highlight></codeline>
+<codeline lineno="94"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q1<sp/>=<sp/>0.04166669;</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q2<sp/>=<sp/>0.02083148;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q3<sp/>=<sp/>0.00801191;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q4<sp/>=<sp/>0.00144121;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q5<sp/>=<sp/>-7.388e-5;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q6<sp/>=<sp/>2.4511e-4;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q7<sp/>=<sp/>2.424e-4;</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a1<sp/>=<sp/>0.3333333;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a2<sp/>=<sp/>-0.250003;</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a3<sp/>=<sp/>0.2000062;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a4<sp/>=<sp/>-0.1662921;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a5<sp/>=<sp/>0.1423657;</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a6<sp/>=<sp/>-0.1367177;</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a7<sp/>=<sp/>0.1233795;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>State<sp/>variables<sp/>[FIXME<sp/>for<sp/>threading!]<sp/>:*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>aa<sp/>=<sp/>0.;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>aaa<sp/>=<sp/>0.;</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>s,<sp/>s2,<sp/>d;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>no.<sp/>1<sp/>(step<sp/>1)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>q0,<sp/>b,<sp/>si,<sp/>c;</highlight><highlight class="comment">/*<sp/>no.<sp/>2<sp/>(step<sp/>4)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>e,<sp/>p,<sp/>q,<sp/>r,<sp/>t,<sp/>u,<sp/>v,<sp/>w,<sp/>x,<sp/>ret_val;</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a=alpha;</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>scale=1.0/beta;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>!R_FINITE<sp/>(<sp/>a<sp/>)<sp/>||<sp/>!R_FINITE<sp/>(<sp/>scale<sp/>)<sp/>||<sp/>a<sp/>&lt;<sp/>0.0<sp/>||<sp/>scale<sp/>&lt;=<sp/>0.0<sp/>)</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Gamma_RNG<sp/>wrong<sp/>parameters&quot;</highlight><highlight class="normal"><sp/>);}</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>a<sp/>&lt;<sp/>1.<sp/>)<sp/>{<sp/></highlight><highlight class="comment">/*<sp/>GS<sp/>algorithm<sp/>for<sp/>parameters<sp/>a<sp/>&lt;<sp/>1<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
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+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>exp_rand()<sp/>&gt;=<sp/>x<sp/>)</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>x;</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>---<sp/>a<sp/>&gt;=<sp/>1<sp/>:<sp/>GD<sp/>algorithm<sp/>---<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>1:<sp/>Recalculations<sp/>of<sp/>s2,<sp/>s,<sp/>d<sp/>if<sp/>a<sp/>has<sp/>changed<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>a<sp/>!=<sp/>aa<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>aa<sp/>=<sp/>a;</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>s2<sp/>=<sp/>a<sp/>-<sp/>0.5;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>s<sp/>=<sp/>sqrt<sp/>(<sp/>s2<sp/>);</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>d<sp/>=<sp/>sqrt32<sp/>-<sp/>s<sp/>*<sp/>12.0;</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>2:<sp/>t<sp/>=<sp/>standard<sp/>normal<sp/>deviate,</highlight></codeline>
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+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>immediate<sp/>acceptance<sp/>(i)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>t<sp/>=<sp/>norm_rand();</highlight></codeline>
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+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ret_val<sp/>=<sp/>x<sp/>*<sp/>x;</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>t<sp/>&gt;=<sp/>0.0<sp/>)</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>ret_val;</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>3:<sp/>u<sp/>=<sp/>0,1<sp/>-<sp/>uniform<sp/>sample.<sp/>squeeze<sp/>acceptance<sp/>(s)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/>unif_rand();</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>(<sp/>d<sp/>*<sp/>u<sp/>)<sp/>&lt;=<sp/>(<sp/>t<sp/>*<sp/>t<sp/>*<sp/>t<sp/>)<sp/>)</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>ret_val;</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"></highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>4:<sp/>recalculations<sp/>of<sp/>q0,<sp/>b,<sp/>si,<sp/>c<sp/>if<sp/>necessary<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="169"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>a<sp/>!=<sp/>aaa<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>aaa<sp/>=<sp/>a;</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>r<sp/>=<sp/>1.0<sp/>/<sp/>a;</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q0<sp/>=<sp/>(<sp/>(<sp/>(<sp/>(<sp/>(<sp/>(<sp/>q7<sp/>*<sp/>r<sp/>+<sp/>q6<sp/>)<sp/>*<sp/>r<sp/>+<sp/>q5<sp/>)<sp/>*<sp/>r<sp/>+<sp/>q4<sp/>)<sp/>*<sp/>r<sp/>+<sp/>q3<sp/>)<sp/>*<sp/>r</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>q2<sp/>)<sp/>*<sp/>r<sp/>+<sp/>q1<sp/>)<sp/>*<sp/>r;</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"></highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Approximation<sp/>depending<sp/>on<sp/>size<sp/>of<sp/>parameter<sp/>a<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>The<sp/>constants<sp/>in<sp/>the<sp/>expressions<sp/>for<sp/>b,<sp/>si<sp/>and<sp/>c<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>were<sp/>established<sp/>by<sp/>numerical<sp/>experiments<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>a<sp/>&lt;=<sp/>3.686<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>b<sp/>=<sp/>0.463<sp/>+<sp/>s<sp/>+<sp/>0.178<sp/>*<sp/>s2;</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>si<sp/>=<sp/>1.235;</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>c<sp/>=<sp/>0.195<sp/>/<sp/>s<sp/>-<sp/>0.079<sp/>+<sp/>0.16<sp/>*<sp/>s;</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>a<sp/>&lt;=<sp/>13.022<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>b<sp/>=<sp/>1.654<sp/>+<sp/>0.0076<sp/>*<sp/>s2;</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>si<sp/>=<sp/>1.68<sp/>/<sp/>s<sp/>+<sp/>0.275;</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>c<sp/>=<sp/>0.062<sp/>/<sp/>s<sp/>+<sp/>0.024;</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>b<sp/>=<sp/>1.77;</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>si<sp/>=<sp/>0.75;</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>c<sp/>=<sp/>0.1515<sp/>/<sp/>s;</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>5:<sp/>no<sp/>quotient<sp/>test<sp/>if<sp/>x<sp/>not<sp/>positive<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"></highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>x<sp/>&gt;<sp/>0.0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>6:<sp/>calculation<sp/>of<sp/>v<sp/>and<sp/>quotient<sp/>q<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v<sp/>=<sp/>t<sp/>/<sp/>(<sp/>s<sp/>+<sp/>s<sp/>);</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>fabs<sp/>(<sp/>v<sp/>)<sp/>&lt;=<sp/>0.25<sp/>)</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>+<sp/>0.5<sp/>*<sp/>t<sp/>*<sp/>t<sp/>*<sp/>(<sp/>(<sp/>(<sp/>(<sp/>(<sp/>(<sp/>a7<sp/>*<sp/>v<sp/>+<sp/>a6<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a5<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a4<sp/>)<sp/>*<sp/>v</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>a3<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a2<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a1<sp/>)<sp/>*<sp/>v;</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>-<sp/>s<sp/>*<sp/>t<sp/>+<sp/>0.25<sp/>*<sp/>t<sp/>*<sp/>t<sp/>+<sp/>(<sp/>s2<sp/>+<sp/>s2<sp/>)<sp/>*<sp/>log<sp/>(<sp/>1.0<sp/>+<sp/>v<sp/>);</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"></highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>7:<sp/>quotient<sp/>acceptance<sp/>(q)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>log<sp/>(<sp/>1.0<sp/>-<sp/>u<sp/>)<sp/>&lt;=<sp/>q<sp/>)</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>ret_val;</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"></highlight></codeline>
+<codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>;;<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//VS<sp/>repeat</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>8:<sp/>e<sp/>=<sp/>standard<sp/>exponential<sp/>deviate</highlight></codeline>
+<codeline lineno="215"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/><sp/>0,1<sp/>-uniform<sp/>deviate</highlight></codeline>
+<codeline lineno="216"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/><sp/><sp/><sp/><sp/><sp/>t<sp/>=<sp/>(b,si)-double<sp/>exponential<sp/>(laplace)<sp/>sample<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>e<sp/>=<sp/>exp_rand();</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/>unif_rand();</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/>u<sp/>+<sp/>u<sp/>-<sp/>1.0;</highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>u<sp/>&lt;<sp/>0.0<sp/>)</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>t<sp/>=<sp/>b<sp/>-<sp/>si<sp/>*<sp/>e;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>t<sp/>=<sp/>b<sp/>+<sp/>si<sp/>*<sp/>e;</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/><sp/>9:<sp/><sp/>rejection<sp/>if<sp/>t<sp/>&lt;<sp/>tau(1)<sp/>=<sp/>-0.71874483771719<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>t<sp/>&gt;=<sp/>-0.71874483771719<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>10:<sp/><sp/><sp/><sp/><sp/><sp/>calculation<sp/>of<sp/>v<sp/>and<sp/>quotient<sp/>q<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v<sp/>=<sp/>t<sp/>/<sp/>(<sp/>s<sp/>+<sp/>s<sp/>);</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>fabs<sp/>(<sp/>v<sp/>)<sp/>&lt;=<sp/>0.25<sp/>)</highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>+<sp/>0.5<sp/>*<sp/>t<sp/>*<sp/>t<sp/>*</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/>(<sp/>(<sp/>(<sp/>(<sp/>(<sp/>a7<sp/>*<sp/>v<sp/>+<sp/>a6<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a5<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a4<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a3<sp/>)<sp/>*<sp/>v</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>a2<sp/>)<sp/>*<sp/>v<sp/>+<sp/>a1<sp/>)<sp/>*<sp/>v;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>q<sp/>=<sp/>q0<sp/>-<sp/>s<sp/>*<sp/>t<sp/>+<sp/>0.25<sp/>*<sp/>t<sp/>*<sp/>t<sp/>+<sp/>(<sp/>s2<sp/>+<sp/>s2<sp/>)<sp/>*<sp/>log<sp/>(<sp/>1.0<sp/>+<sp/>v<sp/>);</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>Step<sp/>11:<sp/><sp/><sp/><sp/><sp/><sp/>hat<sp/>acceptance<sp/>(h)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>(if<sp/>q<sp/>not<sp/>positive<sp/>go<sp/>to<sp/>step<sp/>8)<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>q<sp/>&gt;<sp/>0.0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>TODO:<sp/>w<sp/>=<sp/>expm1(q);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>w<sp/>=<sp/>exp<sp/>(<sp/>q<sp/>)-1;</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/><sp/>^^^^^<sp/>original<sp/>code<sp/>had<sp/>approximation<sp/>with<sp/>rel.err<sp/>&lt;<sp/>2e-7<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">/*<sp/>if<sp/>t<sp/>is<sp/>rejected<sp/>sample<sp/>again<sp/>at<sp/>step<sp/>8<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>(<sp/>c<sp/>*<sp/>fabs<sp/>(<sp/>u<sp/>)<sp/>)<sp/>&lt;=<sp/>(<sp/>w<sp/>*<sp/>exp<sp/>(<sp/>e<sp/>-<sp/>0.5<sp/>*<sp/>t<sp/>*<sp/>t<sp/>)<sp/>)<sp/>)</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="comment">/*<sp/>repeat<sp/>..<sp/>until<sp/><sp/>`t&apos;<sp/>is<sp/>accepted<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>=<sp/>s<sp/>+<sp/>0.5<sp/>*<sp/>t;</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>scale<sp/>*<sp/>x<sp/>*<sp/>x;</highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="249"><highlight class="normal"></highlight></codeline>
+<codeline lineno="250"><highlight class="normal"></highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>qr<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A,<sp/>mat<sp/>&amp;R<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="252"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>info;</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>m<sp/>=<sp/>A.rows();</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n<sp/>=<sp/>A.cols();</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>lwork<sp/>=<sp/>n;</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>k<sp/>=<sp/>std::min<sp/>(<sp/>m,<sp/>n<sp/>);</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>tau<sp/>(<sp/>k<sp/>);</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>work<sp/>(<sp/>lwork<sp/>);</highlight></codeline>
+<codeline lineno="259"><highlight class="normal"></highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R<sp/>=<sp/>A;</highlight></codeline>
+<codeline lineno="261"><highlight class="normal"></highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>perform<sp/>workspace<sp/>query<sp/>for<sp/>optimum<sp/>lwork<sp/>value</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>lwork_tmp<sp/>=<sp/>-1;</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dgeqrf_<sp/>(<sp/>&amp;m,<sp/>&amp;n,<sp/>R._data(),<sp/>&amp;m,<sp/>tau._data(),<sp/>work._data(),<sp/>&amp;lwork_tmp,</highlight></codeline>
+<codeline lineno="265"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&amp;info<sp/>);</highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>info<sp/>==<sp/>0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lwork<sp/>=<sp/></highlight><highlight class="keyword">static_cast&lt;</highlight><highlight class="keywordtype">int</highlight><highlight class="keyword">&gt;</highlight><highlight class="normal"><sp/>(<sp/>work<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>work.set_size<sp/>(<sp/>lwork,<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dgeqrf_<sp/>(<sp/>&amp;m,<sp/>&amp;n,<sp/>R._data(),<sp/>&amp;m,<sp/>tau._data(),<sp/>work._data(),<sp/>&amp;lwork,<sp/>&amp;info<sp/>);</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"></highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>construct<sp/>R</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;<sp/>i&lt;m;<sp/>i++<sp/>)</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>j=0;<sp/>j&lt;std::min<sp/>(<sp/>i,n<sp/>);<sp/>j++<sp/>)</highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R<sp/>(<sp/>i,j<sp/>)<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="276"><highlight class="normal"></highlight></codeline>
+<codeline lineno="277"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(<sp/>info==0<sp/>);</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"></highlight></codeline>
+<codeline lineno="280"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/demo__example_2regulace_8h.xml
===================================================================
--- /doc/xml/demo__example_2regulace_8h.xml (revision 187)
+++ /doc/xml/demo__example_2regulace_8h.xml (revision 187)
@@ -0,0 +1,146 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="demo__example_2regulace_8h" kind="file">
+    <compoundname>regulace.h</compoundname>
+    <includedby refid="demo__example_2simulator_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp</includedby>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="demo__example_2regulace_8h_173d804f0e21a12004e8412d267f85add" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ladeni_regulace[10]</definition>
+        <argsstring>[10]</argsstring>
+        <name>ladeni_regulace</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/regulace.h" line="16" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="51" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="demo__example_2regulace_8h_1f1ab9d3fe7fb20fb6b2e7585725e72ea" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void init_regulace</definition>
+        <argsstring>(double Ls, double Fpm, double kp, double p, double TV)</argsstring>
+        <name>init_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Ls</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Fpm</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>TV</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/regulace.h" line="12" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="91" bodyend="115"/>
+      </memberdef>
+      <memberdef kind="function" id="demo__example_2regulace_8h_171d09500b31dfce56234053b946cbf34" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void vektor_regulace</definition>
+        <argsstring>(double Idw, double Iqw, double Urm_max, double Ww, double *u, double Isx, double Isy, double theta, double rychlost, double Ucn_2, double Uc, double Ucn, unsigned int rezim)</argsstring>
+        <name>vektor_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Idw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Iqw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Urm_max</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isx</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>theta</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>rychlost</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn_2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rezim</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/regulace.h" line="14" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="167" bodyend="370"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*********************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vektorove<sp/>rizeni</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>regulacni<sp/>struktura</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>13.10.2006</highlight></codeline>
+<codeline lineno="10"><highlight class="comment">**********************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fpm,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//extern<sp/>void<sp/>vektor_regulace(double<sp/>Idw,<sp/>double<sp/>Iqw,<sp/>double<sp/>Urm_max,<sp/>double<sp/>Ww,<sp/>double<sp/>*u,<sp/>double<sp/>Isx,<sp/>double<sp/>Isy,<sp/>double<sp/>theta,<sp/>double<sp/>rychlost,<sp/>double<sp/>Ucn_2,<sp/>unsigned<sp/>int<sp/>rezim);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_regulace[10];</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Idw_urm,<sp/>Urmf,<sp/>Iqw_reg<sp/></highlight><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/regulace.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libKF_8h.xml
===================================================================
--- /doc/xml/libKF_8h.xml (revision 187)
+++ /doc/xml/libKF_8h.xml (revision 187)
@@ -0,0 +1,418 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libKF_8h" kind="file">
+    <compoundname>libKF.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libFN_8h" local="yes">../stat/libFN.h</includes>
+    <includes refid="libEF_8h" local="yes">../stat/libEF.h</includes>
+    <includes refid="chmat_8h" local="yes">../math/chmat.h</includes>
+    <includedby refid="ekf__templ_8h" local="yes">work/git/mixpp/bdm/estim/ekf_templ.h</includedby>
+    <includedby refid="libKF_8cpp" local="yes">work/git/mixpp/bdm/estim/libKF.cpp</includedby>
+    <includedby refid="pmsm__sim_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim.cpp</includedby>
+    <includedby refid="pmsm__sim2_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby>
+    <includedby refid="pmsm__sim3_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim3.cpp</includedby>
+    <includedby refid="pmsm__unkQ_8cpp" local="no">work/git/mixpp/pmsm/pmsm_unkQ.cpp</includedby>
+    <includedby refid="pmsm__unkQpf_8cpp" local="no">work/git/mixpp/pmsm/pmsm_unkQpf.cpp</includedby>
+    <includedby refid="sim__var_8cpp" local="no">work/git/mixpp/pmsm/sim_var.cpp</includedby>
+    <includedby refid="ekf__obj_8cpp" local="no">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp</includedby>
+    <includedby refid="ekf__obj_8h" local="no">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</includedby>
+    <includedby refid="testKF_8cpp" local="no">work/git/mixpp/tests/testKF.cpp</includedby>
+    <includedby refid="testKF__QR_8cpp" local="no">work/git/mixpp/tests/testKF_QR.cpp</includedby>
+    <includedby refid="testKF__QRexh_8cpp" local="no">work/git/mixpp/tests/testKF_QRexh.cpp</includedby>
+    <incdepgraph>
+      <node id="237">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="235" relation="include">
+        </childnode>
+      </node>
+      <node id="240">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="235" relation="include">
+        </childnode>
+      </node>
+      <node id="238">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="235" relation="include">
+        </childnode>
+        <childnode refid="239" relation="include">
+        </childnode>
+        <childnode refid="237" relation="include">
+        </childnode>
+        <childnode refid="240" relation="include">
+        </childnode>
+      </node>
+      <node id="236">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="235" relation="include">
+        </childnode>
+        <childnode refid="237" relation="include">
+        </childnode>
+      </node>
+      <node id="235">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="241">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="235" relation="include">
+        </childnode>
+        <childnode refid="239" relation="include">
+        </childnode>
+        <childnode refid="240" relation="include">
+        </childnode>
+      </node>
+      <node id="234">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF.h"/>
+        <childnode refid="235" relation="include">
+        </childnode>
+        <childnode refid="236" relation="include">
+        </childnode>
+        <childnode refid="238" relation="include">
+        </childnode>
+        <childnode refid="241" relation="include">
+        </childnode>
+      </node>
+      <node id="239">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="235" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="243">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="244" relation="include">
+        </childnode>
+      </node>
+      <node id="245">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="242">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF.h"/>
+        <childnode refid="243" relation="include">
+        </childnode>
+        <childnode refid="245" relation="include">
+        </childnode>
+        <childnode refid="246" relation="include">
+        </childnode>
+      </node>
+      <node id="246">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+      <node id="244">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classKalmanFull" prot="public">KalmanFull</innerclass>
+    <innerclass refid="classKalman" prot="public">Kalman</innerclass>
+    <innerclass refid="classKalmanCh" prot="public">KalmanCh</innerclass>
+    <innerclass refid="classEKFfull" prot="public">EKFfull</innerclass>
+    <innerclass refid="classEKF" prot="public">EKF</innerclass>
+    <innerclass refid="classEKFCh" prot="public">EKFCh</innerclass>
+    <innerclass refid="classKFcondQR" prot="public">KFcondQR</innerclass>
+    <innerclass refid="classKFcondR" prot="public">KFcondR</innerclass>
+    <briefdescription>
+<para>Bayesian Filtering for linear Gaussian models (<ref refid="classKalman" kindref="compound">Kalman</ref> Filter) and extensions. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>KF_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>KF_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../stat/libFN.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../stat/libEF.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../math/chmat.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27" refid="classKalmanFull" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classKalmanFull" kindref="compound" tooltip="Basic Kalman filter with full matrices (education purpose only)! Will be deleted...">KalmanFull</ref><sp/>{</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dimx,<sp/>dimy,<sp/>dimu;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A,<sp/>B,<sp/>C,<sp/>D,<sp/>R,<sp/>Q;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//cache</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>_Pp,<sp/>_Ry,<sp/>_iRy,<sp/>_K;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//posterior</highlight></codeline>
+<codeline lineno="37" refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>;</highlight></codeline>
+<codeline lineno="39" refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>evalll;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ll;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" kindref="member" tooltip="For EKFfull;.">KalmanFull</ref><sp/>(<sp/>mat<sp/>A,<sp/>mat<sp/>B,<sp/>mat<sp/>C,<sp/>mat<sp/>D,<sp/>mat<sp/>R,<sp/>mat<sp/>Q,<sp/>mat<sp/>P0,<sp/>vec<sp/>mu0<sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalmanFull_113a041cd98ff157703766be275a657bb" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">friend</highlight><highlight class="normal"><sp/>std::ostream<sp/>&amp;<ref refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" kindref="member" tooltip="print elements of KF">operator&lt;&lt; </ref>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classKalmanFull" kindref="compound" tooltip="Basic Kalman filter with full matrices (education purpose only)! Will be deleted...">KalmanFull</ref><sp/>&amp;kf<sp/>);</highlight></codeline>
+<codeline lineno="51" refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" kindref="member" tooltip="For EKFfull;.">KalmanFull</ref>(){};</highlight></codeline>
+<codeline lineno="52"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64" refid="classKalman" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>{</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="67" refid="classKalman_17501230c2fafa3655887d2da23b3184c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref>;</highlight></codeline>
+<codeline lineno="69" refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" kindref="member" tooltip="Indetifier of exogeneous rv.">rvu</ref>;</highlight></codeline>
+<codeline lineno="71" refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>;</highlight></codeline>
+<codeline lineno="73" refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>;</highlight></codeline>
+<codeline lineno="75" refid="classKalman_1b0153795a1444b6968a86409c778d9ce" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref>;</highlight></codeline>
+<codeline lineno="77" refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>;</highlight></codeline>
+<codeline lineno="79" refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref>;<sp/></highlight></codeline>
+<codeline lineno="81" refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>;</highlight></codeline>
+<codeline lineno="83" refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref>;</highlight></codeline>
+<codeline lineno="85" refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>;</highlight></codeline>
+<codeline lineno="87" refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/><ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>;</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="90" refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm&lt;sq_T&gt;</ref><sp/><ref refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" kindref="member" tooltip="posterior density on $x_t$">est</ref>;</highlight></codeline>
+<codeline lineno="92" refid="classKalman_1e580ab06483952bd03f2e651763e184f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm&lt;sq_T&gt;</ref><sp/><ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95" refid="classKalman_1d422f51467c7a06174af2476d2826132" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref>;</highlight></codeline>
+<codeline lineno="97" refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec&amp;<sp/><ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref>;</highlight></codeline>
+<codeline lineno="99" refid="classKalman_145c9f928d2d62e0c884900fb3380f904" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T&amp;<sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>;</highlight></codeline>
+<codeline lineno="101" refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec&amp;<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>;</highlight></codeline>
+<codeline lineno="103" refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T&amp;<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" kindref="member" tooltip="Default constructor.">Kalman</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvy0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu0<sp/>);</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" kindref="member" tooltip="Default constructor.">Kalman</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman&lt;sq_T&gt;</ref><sp/>&amp;K0<sp/>);</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" kindref="member" tooltip="Set parameters with check of relevance.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;B0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;D0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;R0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;Q0<sp/>);</highlight></codeline>
+<codeline lineno="113" refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" kindref="member" tooltip="Set estimate values, used e.g. in initialization.">set_est</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;mu0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;P0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/>pom(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>);</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" kindref="member" tooltip="posterior density on $x_t$">est</ref>.set_parameters<sp/>(<sp/>mu0,P0<sp/>);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P0.mult_sym(<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,pom);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>.set_parameters<sp/>(<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>*mu0,<sp/>pom<sp/>);</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="123" refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/><ref refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" kindref="member" tooltip="access function">_epdf</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" kindref="member" tooltip="posterior density on $x_t$">est</ref>;}</highlight></codeline>
+<codeline lineno="125" refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat&amp;<sp/><ref refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" kindref="member" tooltip="access function">__K</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref>;}</highlight></codeline>
+<codeline lineno="127" refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" kindref="member" tooltip="access function">_dP</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>-&gt;getD();}</highlight></codeline>
+<codeline lineno="128"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132" refid="classKalmanCh" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classKalmanCh" kindref="compound" tooltip="Kalman filter in square root form.">KalmanCh</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;chmat&gt;{</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="135" refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" refkind="member"><highlight class="normal">mat<sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>;</highlight></codeline>
+<codeline lineno="137" refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" refkind="member"><highlight class="normal">mat<sp/><ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref>;</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="141" refid="classKalmanCh_1d11f110cccaa66177514632d37b086bb" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_1d11f110cccaa66177514632d37b086bb" kindref="member" tooltip="Default constructor.">KalmanCh</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvy0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu0<sp/>):<ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;<ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>&gt;(rvx0,rvy0,rvu0),<ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>),<ref refid="classKalmanCh_10d31a26dc72b5846cfe5af3ccb63ac87" kindref="member" tooltip="post array (triangular matrix)">postA</ref>(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>){};</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalmanCh_192fb227287af05c9f0078d523c7c9793" kindref="member" tooltip="Set parameters with check of relevance.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;B0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;D0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;R0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;Q0<sp/>);</highlight></codeline>
+<codeline lineno="144" refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" kindref="member" tooltip="Set estimate values, used e.g. in initialization.">set_est</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;mu0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;P0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" kindref="member" tooltip="posterior density on $x_t$">est</ref>.<ref refid="classenorm_11394a65caa6e00d42e00cc99b12227af" kindref="member" tooltip="Set mean value mu and covariance R.">set_parameters</ref><sp/>(<sp/>mu0,P0<sp/>);</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="163"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170" refid="classEKFfull" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classKalmanFull" kindref="compound" tooltip="Basic Kalman filter with full matrices (education purpose only)! Will be deleted...">KalmanFull</ref>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>{</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu;</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu;</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm&lt;fsqmat&gt;</ref><sp/>E;<sp/></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFfull_167ac4de96fd025197da767fe0472c7f7" kindref="member" tooltip="Default constructor.">EKFfull</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvy,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu<sp/>);</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu,<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>Q0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>R0<sp/>);</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="186" refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" kindref="member" tooltip="set estimates">set_est</ref><sp/>(vec<sp/>mu0,<sp/>mat<sp/>P0){<ref refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" kindref="member" tooltip="Mean value of the posterior density.">mu</ref>=mu0;<ref refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" kindref="member" tooltip="Variance of the posterior density.">P</ref>=P0;};</highlight></codeline>
+<codeline lineno="188" refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/><ref refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" kindref="member" tooltip="dummy!">_epdf</ref>(){</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>E;};</highlight></codeline>
+<codeline lineno="189"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"></highlight></codeline>
+<codeline lineno="196"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="197" refid="classEKF" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKF" kindref="compound" tooltip="Extended Kalman Filter.">EKF</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;fsqmat&gt;<sp/>{</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu;</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu;</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF_1ea4f3254cacf0a92d2a820b1201d049e" kindref="member" tooltip="Default constructor.">EKF</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref>,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" kindref="member" tooltip="Indetifier of exogeneous rv.">rvu</ref><sp/>);</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF_128d058ae4d24d992d2f055419a06ee66" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu,<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>Q0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>R0<sp/>);</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="209"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"></highlight></codeline>
+<codeline lineno="217" refid="classEKFCh" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classKalmanCh" kindref="compound" tooltip="Kalman filter in square root form.">KalmanCh</ref><sp/>{</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu;</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh_1e9e39a9204db3dda88d06e47c1e19064" kindref="member" tooltip="Default constructor.">EKFCh</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref>,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" kindref="member" tooltip="Indetifier of exogeneous rv.">rvu</ref><sp/>);</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu,<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R0<sp/>);</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="229"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"></highlight></codeline>
+<codeline lineno="235" refid="classKFcondQR" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classKFcondQR" kindref="compound" tooltip="Kalman Filter with conditional diagonal matrices R and Q.">KFcondQR</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;ldmat&gt;,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"></highlight><highlight class="comment">//protected:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="237"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="239" refid="classKFcondQR_13f3968f92c7bbe4b0902d5e14ecc1cb4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKFcondQR_13f3968f92c7bbe4b0902d5e14ecc1cb4" kindref="member" tooltip="Default constructor.">KFcondQR</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref>,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" kindref="member" tooltip="Indetifier of exogeneous rv.">rvu</ref>,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvRQ<sp/>)<sp/>:<sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&gt;<sp/>(<sp/>rvx,<sp/>rvy,rvu<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rvRQ<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;RQ<sp/>);</highlight></codeline>
+<codeline lineno="242"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248" refid="classKFcondR" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classKFcondR" kindref="compound" tooltip="Kalman Filter with conditional diagonal matrices R and Q.">KFcondR</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;ldmat&gt;,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="249"><highlight class="normal"></highlight><highlight class="comment">//protected:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="250"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="252" refid="classKFcondR_1d2acbb8e66c7ee592b1a9da5b429a69e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKFcondR_1d2acbb8e66c7ee592b1a9da5b429a69e" kindref="member" tooltip="Default constructor.">KFcondR</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref>,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" kindref="member" tooltip="Indetifier of exogeneous rv.">rvu</ref>,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvR<sp/>)<sp/>:<sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&gt;<sp/>(<sp/>rvx,<sp/>rvy,rvu<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rvR<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="253"><highlight class="normal"></highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;<ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref><sp/>);</highlight></codeline>
+<codeline lineno="255"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"></highlight></codeline>
+<codeline lineno="258"><highlight class="normal"></highlight></codeline>
+<codeline lineno="259"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="260" refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" refkind="member"><highlight class="normal"><ref refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" kindref="member" tooltip="Default constructor.">Kalman&lt;sq_T&gt;::Kalman</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman&lt;sq_T&gt;</ref><sp/>&amp;K0<sp/>)<sp/>:<sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>(<sp/>K0.rv<sp/>),rvy<sp/>(<sp/>K0.rvy<sp/>),rvu<sp/>(<sp/>K0.rvu<sp/>),</highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dimx<sp/>(<sp/>rv.count()<sp/>),<sp/>dimy<sp/>(<sp/>rvy.count()<sp/>),dimu<sp/>(<sp/>rvu.count()<sp/>),</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>dimx,dimx<sp/>),<sp/>B<sp/>(<sp/>dimx,dimu<sp/>),<sp/>C<sp/>(<sp/>dimy,dimx<sp/>),<sp/>D<sp/>(<sp/>dimy,dimu<sp/>),</highlight></codeline>
+<codeline lineno="263"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q(dimx),<sp/>R(dimy),</highlight></codeline>
+<codeline lineno="264"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>est<sp/>(<sp/>rv<sp/>),<sp/>fy<sp/>(<sp/>rvy<sp/>),<sp/>_yp(fy._mu()),_Ry(fy._R()),<sp/>_mu(est._mu()),<sp/>_P(est._R())<sp/>{</highlight></codeline>
+<codeline lineno="265"><highlight class="normal"></highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" kindref="member" tooltip="Set parameters with check of relevance.">set_parameters</ref><sp/>(<sp/>K0.<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>,<sp/>K0.<ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref>,<sp/>K0.<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,<sp/>K0.<ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref>,<sp/>K0.<ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>,<sp/>K0.<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref><sp/>);</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"></highlight></codeline>
+<codeline lineno="268"><highlight class="normal"></highlight><highlight class="comment">//<sp/>copy<sp/>values<sp/>in<sp/>pointers</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>=<sp/>K0.<ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>;</highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref><sp/>=<sp/>K0.<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>;</highlight></codeline>
+<codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/>=<sp/>K0.<ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref>;</highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref><sp/>=<sp/>K0.<ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>;</highlight></codeline>
+<codeline lineno="273"><highlight class="normal"></highlight></codeline>
+<codeline lineno="274"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="275"><highlight class="normal"></highlight></codeline>
+<codeline lineno="276"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="277" refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" refkind="member"><highlight class="normal"><ref refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" kindref="member" tooltip="Default constructor.">Kalman&lt;sq_T&gt;::Kalman</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvy0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu0<sp/>)<sp/>:<sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>(<sp/>rvx<sp/>),<ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref><sp/>(<sp/>rvy0<sp/>),<ref refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" kindref="member" tooltip="Indetifier of exogeneous rv.">rvu</ref><sp/>(<sp/>rvu0<sp/>),</highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref><sp/>(<sp/>rvx.count()<sp/>),<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref><sp/>(<sp/><ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref>.count()<sp/>),<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>(<sp/><ref refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" kindref="member" tooltip="Indetifier of exogeneous rv.">rvu</ref>.count()<sp/>),</highlight></codeline>
+<codeline lineno="279"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref><sp/>(<sp/><ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref><sp/>),<sp/><ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref><sp/>(<sp/><ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref><sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref><sp/>),<sp/><ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref><sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),</highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>(<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>),<sp/><ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref><sp/>(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>),</highlight></codeline>
+<codeline lineno="281"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" kindref="member" tooltip="posterior density on $x_t$">est</ref><sp/>(<sp/>rvx<sp/>),<sp/><ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref><sp/>(<sp/><ref refid="classKalman_17501230c2fafa3655887d2da23b3184c" kindref="member" tooltip="Indetifier of output rv.">rvy</ref><sp/>),<sp/><sp/><ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref>(<ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>.<ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>()),<ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>(<ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>._R()),<ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>(<ref refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" kindref="member" tooltip="posterior density on $x_t$">est</ref>.<ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>()),<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>(<ref refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" kindref="member" tooltip="posterior density on $x_t$">est</ref>._R())<sp/>{</highlight></codeline>
+<codeline lineno="282"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="283"><highlight class="normal"></highlight></codeline>
+<codeline lineno="284"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="285" refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" kindref="member" tooltip="Set parameters with check of relevance.">Kalman&lt;sq_T&gt;::set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>mat<sp/>&amp;B0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;D0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;R0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>A0.cols()<sp/>==<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<sp/></highlight><highlight class="stringliteral">&quot;Kalman:<sp/>A<sp/>is<sp/>not<sp/>square&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>B0.rows()<sp/>==<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<sp/></highlight><highlight class="stringliteral">&quot;Kalman:<sp/>B<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="288"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>C0.cols()<sp/>==<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<sp/></highlight><highlight class="stringliteral">&quot;Kalman:<sp/>C<sp/>is<sp/>not<sp/>square&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>D0.rows()<sp/>==<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref><sp/>)<sp/>||<sp/>(<sp/>D0.cols()<sp/>==<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),<sp/></highlight><highlight class="stringliteral">&quot;Kalman:<sp/>D<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>R0.cols()<sp/>==<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref><sp/>)<sp/>||<sp/>(<sp/>R0.rows()<sp/>==<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref><sp/>),<sp/></highlight><highlight class="stringliteral">&quot;Kalman:<sp/>R<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>Q0.cols()<sp/>==<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref><sp/>)<sp/>||<sp/>(<sp/>Q0.rows()<sp/>==<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref><sp/>),<sp/></highlight><highlight class="stringliteral">&quot;Kalman:<sp/>Q<sp/>is<sp/>not<sp/>compatible&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="292"><highlight class="normal"></highlight></codeline>
+<codeline lineno="293"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref><sp/>=<sp/>A0;</highlight></codeline>
+<codeline lineno="294"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref><sp/>=<sp/>B0;</highlight></codeline>
+<codeline lineno="295"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref><sp/>=<sp/>C0;</highlight></codeline>
+<codeline lineno="296"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref><sp/>=<sp/>D0;</highlight></codeline>
+<codeline lineno="297"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref><sp/>=<sp/>R0;</highlight></codeline>
+<codeline lineno="298"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref><sp/>=<sp/>Q0;</highlight></codeline>
+<codeline lineno="299"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="300"><highlight class="normal"></highlight></codeline>
+<codeline lineno="301"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="302" refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">Kalman&lt;sq_T&gt;::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>dt.length()<sp/>==<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),</highlight><highlight class="stringliteral">&quot;KalmanFull::bayes<sp/>wrong<sp/>size<sp/>of<sp/>dt&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="304"><highlight class="normal"></highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/>iRy(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>);</highlight></codeline>
+<codeline lineno="306"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u<sp/>=<sp/>dt.get<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>=<sp/>dt.get<sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="308"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Time<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="309"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>=<sp/><ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>*<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>+<sp/><ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref>*u;</highlight></codeline>
+<codeline lineno="310"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//P<sp/><sp/>=<sp/>A*P*A.transpose()<sp/>+<sp/>Q;<sp/>in<sp/>sq_T</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="311"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.mult_sym<sp/>(<sp/><ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref><sp/>);</highlight></codeline>
+<codeline lineno="312"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref><sp/><sp/>+=<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>;</highlight></codeline>
+<codeline lineno="313"><highlight class="normal"></highlight></codeline>
+<codeline lineno="314"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Data<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="315"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//_Ry<sp/>=<sp/>C*P*C.transpose()<sp/>+<sp/>R;<sp/>in<sp/>sq_T</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="316"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.mult_sym<sp/>(<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,<sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref><sp/>);</highlight></codeline>
+<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref><sp/><sp/>+=<ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>;</highlight></codeline>
+<codeline lineno="318"><highlight class="normal"></highlight></codeline>
+<codeline lineno="319"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Pfull<sp/>=<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.to_mat();</highlight></codeline>
+<codeline lineno="320"><highlight class="normal"></highlight></codeline>
+<codeline lineno="321"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.inv<sp/>(<sp/>iRy<sp/>);<sp/></highlight><highlight class="comment">//<sp/>result<sp/>is<sp/>in<sp/>_iRy;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="322"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>=<sp/>Pfull*<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>.transpose()<sp/>*<sp/>(<sp/>iRy.to_mat()<sp/>);</highlight></codeline>
+<codeline lineno="323"><highlight class="normal"></highlight></codeline>
+<codeline lineno="324"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/>pom<sp/>(<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>)<sp/>Pfull.rows()<sp/>);</highlight></codeline>
+<codeline lineno="325"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>iRy.mult_sym_t<sp/>(<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>*Pfull,pom<sp/>);</highlight></codeline>
+<codeline lineno="326"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref><sp/>)<sp/>-=<sp/>pom;<sp/></highlight><highlight class="comment">//<sp/>P<sp/>=<sp/>P<sp/>-PC&apos;iRy*CP;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="327"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/>)<sp/>=<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>*<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/><sp/>+<ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref>*u;<sp/></highlight><highlight class="comment">//y<sp/>prediction</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="328"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>)<sp/>+=<sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref>*<sp/>(<sp/>y-<sp/><ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/><sp/>);</highlight></codeline>
+<codeline lineno="329"><highlight class="normal"></highlight></codeline>
+<codeline lineno="330"><highlight class="normal"></highlight></codeline>
+<codeline lineno="331"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref>==</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{<sp/></highlight><highlight class="comment">//likelihood<sp/>of<sp/>observation<sp/>y</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="332"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref>=<ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>.evalpdflog<sp/>(<sp/>y<sp/>);</highlight></codeline>
+<codeline lineno="333"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="334"><highlight class="normal"></highlight></codeline>
+<codeline lineno="335"><highlight class="normal"></highlight><highlight class="comment">//cout<sp/>&lt;&lt;<sp/>&quot;y:<sp/>&quot;<sp/>&lt;&lt;<sp/>y-(*_yp)<sp/>&lt;&lt;&quot;<sp/>R:<sp/>&quot;<sp/>&lt;&lt;<sp/>_Ry-&gt;to_mat()<sp/>&lt;&lt;<sp/>&quot;<sp/>iR:<sp/>&quot;<sp/>&lt;&lt;<sp/>_iRy-&gt;to_mat()<sp/>&lt;&lt;<sp/>&quot;<sp/>ll:<sp/>&quot;<sp/>&lt;&lt;<sp/>ll<sp/>&lt;&lt;endl;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="336"><highlight class="normal"></highlight></codeline>
+<codeline lineno="337"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="338"><highlight class="normal"><sp/></highlight></codeline>
+<codeline lineno="339"><highlight class="normal"></highlight></codeline>
+<codeline lineno="340"><highlight class="normal"></highlight></codeline>
+<codeline lineno="341"><highlight class="normal"></highlight><highlight class="comment">//TODO<sp/>why<sp/>not<sp/>const<sp/>pointer??</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="342"><highlight class="normal"></highlight></codeline>
+<codeline lineno="343"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="344" refid="classEKF_1ea4f3254cacf0a92d2a820b1201d049e" refkind="member"><highlight class="normal"><ref refid="classEKF_1ea4f3254cacf0a92d2a820b1201d049e" kindref="member" tooltip="Default constructor.">EKF&lt;sq_T&gt;::EKF</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvy0,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu0<sp/>)<sp/>:<sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>&lt;sq_T&gt;<sp/>(<sp/>rvx0,rvy0,rvu0<sp/>)<sp/>{}</highlight></codeline>
+<codeline lineno="345"><highlight class="normal"></highlight></codeline>
+<codeline lineno="346"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="347" refid="classEKF_128d058ae4d24d992d2f055419a06ee66" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF_128d058ae4d24d992d2f055419a06ee66" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">EKF&lt;sq_T&gt;::set_parameters</ref><sp/>(<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>pfxu0,<sp/><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>*<sp/>phxu0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>Q0,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>sq_T<sp/>R0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="348"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu<sp/>=<sp/>pfxu0;</highlight></codeline>
+<codeline lineno="349"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu<sp/>=<sp/>phxu0;</highlight></codeline>
+<codeline lineno="350"><highlight class="normal"></highlight></codeline>
+<codeline lineno="351"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//initialize<sp/>matrices<sp/>A<sp/>C,<sp/>later,<sp/>these<sp/>will<sp/>be<sp/>only<sp/>updated!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="352"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,zeros<sp/>(<sp/><ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="353"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;dfdu_cond<sp/>(<sp/>*_mu,zeros<sp/>(<sp/>dimu<sp/>),B,true<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="354"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" kindref="member" tooltip="Matrix B.">B</ref>.clear();</highlight></codeline>
+<codeline lineno="355"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,zeros<sp/>(<sp/><ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="356"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;dfdu_cond<sp/>(<sp/>*_mu,zeros<sp/>(<sp/>dimu<sp/>),D,true<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="357"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" kindref="member" tooltip="Matrix D.">D</ref>.clear();</highlight></codeline>
+<codeline lineno="358"><highlight class="normal"></highlight></codeline>
+<codeline lineno="359"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref><sp/>=<sp/>R0;</highlight></codeline>
+<codeline lineno="360"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref><sp/>=<sp/>Q0;</highlight></codeline>
+<codeline lineno="361"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="362"><highlight class="normal"></highlight></codeline>
+<codeline lineno="363"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>sq_T&gt;</highlight></codeline>
+<codeline lineno="364" refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">EKF&lt;sq_T&gt;::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="365"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>dt.length()<sp/>==<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref><sp/>),</highlight><highlight class="stringliteral">&quot;KalmanFull::bayes<sp/>wrong<sp/>size<sp/>of<sp/>dt&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="366"><highlight class="normal"></highlight></codeline>
+<codeline lineno="367"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/>iRy(<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>);</highlight></codeline>
+<codeline lineno="368"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u<sp/>=<sp/>dt.get<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_1b0153795a1444b6968a86409c778d9ce" kindref="member" tooltip="cache of rvu.count()">dimu</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="369"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>=<sp/>dt.get<sp/>(<sp/>0,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>-1<sp/>);</highlight></codeline>
+<codeline lineno="370"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Time<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="371"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>=<sp/>pfxu-&gt;<ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,<sp/>u<sp/>);</highlight></codeline>
+<codeline lineno="372"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pfxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,u,<ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref>,</highlight><highlight class="keyword">false</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//update<sp/>A<sp/>by<sp/>a<sp/>derivative<sp/>of<sp/>fx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="373"><highlight class="normal"></highlight></codeline>
+<codeline lineno="374"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//P<sp/><sp/>=<sp/>A*P*A.transpose()<sp/>+<sp/>Q;<sp/>in<sp/>sq_T</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="375"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/><ref refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" kindref="member" tooltip="Matrix A.">A</ref><sp/>);</highlight></codeline>
+<codeline lineno="376"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref><sp/>+=<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>;</highlight></codeline>
+<codeline lineno="377"><highlight class="normal"></highlight></codeline>
+<codeline lineno="378"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Data<sp/>update</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="379"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>phxu-&gt;<ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,u,<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,</highlight><highlight class="keyword">false</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//update<sp/>C<sp/>by<sp/>a<sp/>derivative<sp/>hx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="380"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//_Ry<sp/>=<sp/>C*P*C.transpose()<sp/>+<sp/>R;<sp/>in<sp/>sq_T</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="381"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>,<sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref><sp/>);</highlight></codeline>
+<codeline lineno="382"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref><sp/>)<sp/>+=<ref refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" kindref="member" tooltip="Matrix R in square-root form.">R</ref>;</highlight></codeline>
+<codeline lineno="383"><highlight class="normal"></highlight></codeline>
+<codeline lineno="384"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Pfull<sp/>=<sp/><ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref>.<ref refid="classfsqmat_1cedf4f048309056f4262c930914dfda8" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>();</highlight></codeline>
+<codeline lineno="385"><highlight class="normal"></highlight></codeline>
+<codeline lineno="386"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_145c9f928d2d62e0c884900fb3380f904" kindref="member" tooltip="cache of fy.R">_Ry</ref>.<ref refid="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" kindref="member" tooltip="Matrix inversion preserving the chosen form.">inv</ref><sp/>(<sp/>iRy<sp/>);<sp/></highlight><highlight class="comment">//<sp/>result<sp/>is<sp/>in<sp/>_iRy;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="387"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref><sp/>=<sp/>Pfull*<ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>.transpose()<sp/>*<sp/>(<sp/>iRy.to_mat()<sp/>);</highlight></codeline>
+<codeline lineno="388"><highlight class="normal"></highlight></codeline>
+<codeline lineno="389"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sq_T<sp/>pom<sp/>(<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>)<sp/>Pfull.rows()<sp/>);</highlight></codeline>
+<codeline lineno="390"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>iRy.mult_sym_t<sp/>(<sp/><ref refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" kindref="member" tooltip="Matrix C.">C</ref>*Pfull,pom<sp/>);</highlight></codeline>
+<codeline lineno="391"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<ref refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" kindref="member" tooltip="cache of est.R">_P</ref><sp/>)<sp/>-=<sp/>pom;<sp/></highlight><highlight class="comment">//<sp/>P<sp/>=<sp/>P<sp/>-PC&apos;iRy*CP;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="392"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/>=<sp/>phxu-&gt;<ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref>,u<sp/>);<sp/></highlight><highlight class="comment">//y<sp/>prediction</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="393"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(<sp/><ref refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" kindref="member" tooltip="cache of est.mu">_mu</ref><sp/>)<sp/>+=<sp/><ref refid="classKalman_1d422f51467c7a06174af2476d2826132" kindref="member" tooltip="placeholder for Kalman gain">_K</ref>*<sp/>(<sp/>y-<ref refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" kindref="member" tooltip="cache of fy.mu">_yp</ref><sp/>);</highlight></codeline>
+<codeline lineno="394"><highlight class="normal"></highlight></codeline>
+<codeline lineno="395"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref>==</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{<ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref>+=<ref refid="classKalman_1e580ab06483952bd03f2e651763e184f" kindref="member" tooltip="preditive density on $y_t$">fy</ref>.<ref refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/>y<sp/>);}</highlight></codeline>
+<codeline lineno="396"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="397"><highlight class="normal"></highlight></codeline>
+<codeline lineno="398"><highlight class="normal"></highlight></codeline>
+<codeline lineno="399"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>KF_H</highlight></codeline>
+<codeline lineno="400"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="401"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classBMcond.xml
===================================================================
--- /doc/xml/classBMcond.xml (revision 187)
+++ /doc/xml/classBMcond.xml (revision 187)
@@ -0,0 +1,173 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classBMcond" kind="class" prot="public">
+    <compoundname>BMcond</compoundname>
+    <derivedcompoundref refid="classEKF__unQ" prot="public" virt="non-virtual">EKF_unQ</derivedcompoundref>
+    <derivedcompoundref refid="classEKF__unQ" prot="public" virt="non-virtual">EKF_unQ</derivedcompoundref>
+    <derivedcompoundref refid="classEKF__unQ" prot="public" virt="non-virtual">EKF_unQ</derivedcompoundref>
+    <derivedcompoundref refid="classEKF__unQful" prot="public" virt="non-virtual">EKF_unQful</derivedcompoundref>
+    <derivedcompoundref refid="classEKFfixed" prot="public" virt="non-virtual">EKFfixed</derivedcompoundref>
+    <derivedcompoundref refid="classEKFful__unQR" prot="public" virt="non-virtual">EKFful_unQR</derivedcompoundref>
+    <derivedcompoundref refid="classKFcondQR" prot="public" virt="non-virtual">KFcondQR</derivedcompoundref>
+    <derivedcompoundref refid="classKFcondR" prot="public" virt="non-virtual">KFcondR</derivedcompoundref>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BMcond::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>Identificator of the conditioning variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
+        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">_rvc</referencedby>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classBMcond_13543cfe274c35f9033c24d8036a96c4d" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void BMcond::condition</definition>
+        <argsstring>(const vec &amp;val)=0</argsstring>
+        <name>condition</name>
+        <reimplementedby refid="classEKFfixed_1c7fee79e75ad7f0c0e96c5a322cbf44e">condition</reimplementedby>
+        <reimplementedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99">condition</reimplementedby>
+        <reimplementedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99">condition</reimplementedby>
+        <reimplementedby refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99">condition</reimplementedby>
+        <reimplementedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f">condition</reimplementedby>
+        <reimplementedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606">condition</reimplementedby>
+        <reimplementedby refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412">condition</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="307"/>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>BMcond::BMcond</definition>
+        <argsstring>(RV &amp;rv0)</argsstring>
+        <name>BMcond</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="309" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="309" bodyend="309"/>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual BMcond::~BMcond</definition>
+        <argsstring>()</argsstring>
+        <name>~BMcond</name>
+        <briefdescription>
+<para>Destructor for future use. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="311" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="311" bodyend="311"/>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BMcond::_rvc</definition>
+        <argsstring>() const </argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">rvc</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Conditional Bayesian Filter. </para>    </briefdescription>
+    <detaileddescription>
+<para>Evaluates conditional filtering density <formula id="36">$f(rv|rvc,data)$</formula> for a given <computeroutput>rvc</computeroutput> which is specified in each step by calling function <computeroutput>condition</computeroutput>.</para><para>This is an interface class used to assure that certain <ref refid="classBM" kindref="compound">BM</ref> has operation <computeroutput>condition</computeroutput> . </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="720">
+        <label>EKFfixed</label>
+        <link refid="classEKFfixed"/>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="719">
+        <label>EKF_unQful</label>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="723">
+        <label>KFcondR</label>
+        <link refid="classKFcondR"/>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="718">
+        <label>EKF_unQ</label>
+        <link refid="classEKF__unQ"/>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="722">
+        <label>KFcondQR</label>
+        <link refid="classKFcondQR"/>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="721">
+        <label>EKFful_unQR</label>
+        <link refid="classEKFful__unQR"/>
+        <childnode refid="717" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="717">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="725">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="724">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+        <childnode refid="725" relation="usage">
+          <edgelabel>rvc</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="301" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="301" bodyend="314"/>
+    <listofallmembers>
+      <member refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" virt="non-virtual"><scope>BMcond</scope><name>_rvc</name></member>
+      <member refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" prot="public" virt="non-virtual"><scope>BMcond</scope><name>BMcond</name></member>
+      <member refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d" prot="public" virt="pure-virtual"><scope>BMcond</scope><name>condition</name></member>
+      <member refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" virt="non-virtual"><scope>BMcond</scope><name>rvc</name></member>
+      <member refid="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" virt="virtual"><scope>BMcond</scope><name>~BMcond</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libFN_8h.xml
===================================================================
--- /doc/xml/libFN_8h.xml (revision 187)
+++ /doc/xml/libFN_8h.xml (revision 187)
@@ -0,0 +1,199 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libFN_8h" kind="file">
+    <compoundname>libFN.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">libBM.h</includes>
+    <includedby refid="arx_8h" local="yes">work/git/mixpp/bdm/estim/arx.h</includedby>
+    <includedby refid="libKF_8h" local="yes">work/git/mixpp/bdm/estim/libKF.h</includedby>
+    <includedby refid="libFN_8cpp" local="yes">work/git/mixpp/bdm/stat/libFN.cpp</includedby>
+    <includedby refid="pmsm_8h" local="no">work/git/mixpp/pmsm/pmsm.h</includedby>
+    <includedby refid="pmsm__mix_8cpp" local="no">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <includedby refid="pmsm__sim_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim.cpp</includedby>
+    <includedby refid="pmsm__sim2_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby>
+    <includedby refid="pmsm__sim3_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim3.cpp</includedby>
+    <includedby refid="pmsm__unkQ_8cpp" local="no">work/git/mixpp/pmsm/pmsm_unkQ.cpp</includedby>
+    <includedby refid="pmsm__unkQpf_8cpp" local="no">work/git/mixpp/pmsm/pmsm_unkQpf.cpp</includedby>
+    <includedby refid="sim__var_8cpp" local="no">work/git/mixpp/pmsm/sim_var.cpp</includedby>
+    <incdepgraph>
+      <node id="414">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="413" relation="include">
+        </childnode>
+      </node>
+      <node id="412">
+        <label>work/git/mixpp/bdm/stat/libFN.h</label>
+        <link refid="libFN.h"/>
+        <childnode refid="413" relation="include">
+        </childnode>
+        <childnode refid="414" relation="include">
+        </childnode>
+      </node>
+      <node id="413">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="423">
+        <label>work/git/mixpp/pmsm/pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="420" relation="include">
+        </childnode>
+        <childnode refid="421" relation="include">
+        </childnode>
+      </node>
+      <node id="419">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="420" relation="include">
+        </childnode>
+      </node>
+      <node id="416">
+        <label>work/git/mixpp/bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="417" relation="include">
+        </childnode>
+      </node>
+      <node id="415">
+        <label>work/git/mixpp/bdm/stat/libFN.h</label>
+        <link refid="libFN.h"/>
+        <childnode refid="416" relation="include">
+        </childnode>
+        <childnode refid="418" relation="include">
+        </childnode>
+        <childnode refid="423" relation="include">
+        </childnode>
+        <childnode refid="420" relation="include">
+        </childnode>
+        <childnode refid="421" relation="include">
+        </childnode>
+      </node>
+      <node id="417">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim__var__arx_8cpp"/>
+      </node>
+      <node id="421">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="418">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="419" relation="include">
+        </childnode>
+        <childnode refid="421" relation="include">
+        </childnode>
+        <childnode refid="422" relation="include">
+        </childnode>
+      </node>
+      <node id="422">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+      <node id="420">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classconstfn" prot="public">constfn</innerclass>
+    <innerclass refid="classlinfn" prot="public">linfn</innerclass>
+    <innerclass refid="classdiffbifn" prot="public">diffbifn</innerclass>
+    <innerclass refid="classbilinfn" prot="public">bilinfn</innerclass>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>Interface:<sp/>itpp_ext</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Description:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Author:<sp/>smidl<sp/>&lt;smidl@utia.cas.cz&gt;,<sp/>(C)<sp/>2008</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Copyright:<sp/>See<sp/>COPYING<sp/>file<sp/>that<sp/>comes<sp/>with<sp/>this<sp/>distribution</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="preprocessor">#ifndef<sp/>FN_H</highlight></codeline>
+<codeline lineno="13"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>FN_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libBM_8h" kindref="compound" tooltip="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21" refid="classconstfn" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classconstfn" kindref="compound" tooltip="class representing function , here rv is empty">constfn</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classfnc" kindref="compound" tooltip="Class representing function  of variable  represented by rv.">fnc</ref></highlight></codeline>
+<codeline lineno="22"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>val;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//vec<sp/>eval()<sp/>{return<sp/>val;};</highlight></codeline>
+<codeline lineno="29" refid="classconstfn_10411f603cbf675f2bc04a8f85e4e3b52" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classconstfn_10411f603cbf675f2bc04a8f85e4e3b52" kindref="member" tooltip="inherited">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond<sp/>)<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>val;};</highlight></codeline>
+<codeline lineno="31" refid="classconstfn_1d08acd7fac0ef3edfa59bbe48403f2bc" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classconstfn_1d08acd7fac0ef3edfa59bbe48403f2bc" kindref="member" tooltip="Default constructor.">constfn</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val0<sp/>)<sp/>:<ref refid="classfnc" kindref="compound" tooltip="Class representing function  of variable  represented by rv.">fnc</ref>(val0.length()),<sp/>val<sp/>(<sp/>val0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="32"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35" refid="classlinfn" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classlinfn" kindref="compound" tooltip="Class representing function .">linfn</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classfnc" kindref="compound" tooltip="Class representing function  of variable  represented by rv.">fnc</ref></highlight></codeline>
+<codeline lineno="36"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rv;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>B;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/>:</highlight></codeline>
+<codeline lineno="44" refid="classlinfn_1fac0e56701f4c7beaf1c91f9b2a55f0b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classlinfn_1fac0e56701f4c7beaf1c91f9b2a55f0b" kindref="member" tooltip="function evaluates numerical value of  at  cond ">eval</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond<sp/>)<sp/>{it_assert_debug<sp/>(<sp/>cond.length()<sp/>==rv.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>(),<sp/></highlight><highlight class="stringliteral">&quot;linfn::eval<sp/>Wrong<sp/>cond.&quot;</highlight><highlight class="normal"><sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>A*cond+B;};</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>linfn<sp/>evalsome<sp/>(<sp/>ivec<sp/>&amp;rvind<sp/>);</highlight></codeline>
+<codeline lineno="48" refid="classlinfn_101c70122a7783ddb0d87e6a82685adcb" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classlinfn_101c70122a7783ddb0d87e6a82685adcb" kindref="member" tooltip="default constructor">linfn</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0<sp/>)<sp/>:<sp/><ref refid="classfnc" kindref="compound" tooltip="Class representing function  of variable  represented by rv.">fnc</ref>(rv0.count()),<sp/>rv<sp/>(<sp/>rv0<sp/>),A<sp/>(<sp/>eye<sp/>(<sp/>rv0.count()<sp/>)<sp/>),B<sp/>(<sp/>zeros<sp/>(<sp/>rv0.count()<sp/>)<sp/>)<sp/>{<sp/>};</highlight></codeline>
+<codeline lineno="50" refid="classlinfn_115eb81f2141984a61706b7ad5b411505" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classlinfn_115eb81f2141984a61706b7ad5b411505" kindref="member" tooltip="Set values of A and B.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0<sp/>,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;B0<sp/>)<sp/>{A=A0;<sp/>B=B0;};</highlight></codeline>
+<codeline lineno="51"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63" refid="classdiffbifn" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classfnc" kindref="compound" tooltip="Class representing function  of variable  represented by rv.">fnc</ref></highlight></codeline>
+<codeline lineno="64"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="67" refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" kindref="member" tooltip="Indentifier of the first rv.">rvx</ref>;</highlight></codeline>
+<codeline lineno="69" refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" kindref="member" tooltip="Indentifier of the second rv.">rvu</ref>;</highlight></codeline>
+<codeline lineno="71" refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>;</highlight></codeline>
+<codeline lineno="73" refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref>;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="76" refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond<sp/>)</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>cond.length()<sp/>==<sp/>(<sp/><ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>+<ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref><sp/>),<sp/></highlight><highlight class="stringliteral">&quot;linfn::eval<sp/>Wrong<sp/>cond.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref><sp/>(<sp/>cond<sp/>(<sp/>0,<ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>-1<sp/>),cond<sp/>(<sp/><ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>,<ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>+<ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref><sp/>)<sp/>);</highlight><highlight class="comment">//-1<sp/>=<sp/>end<sp/>(in<sp/>matlab)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="83" refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>vec<sp/><ref refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" kindref="member" tooltip="Evaluates  (VS: Do we really need common eval? ).">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0<sp/>)<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>zeros<sp/>(<sp/><ref refid="classfnc_122d51d10a7901331167f64f80d1af8e9" kindref="member" tooltip="Length of the output vector.">dimy</ref><sp/>);};</highlight></codeline>
+<codeline lineno="85" refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;A<sp/>,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="87" refid="classdiffbifn_11978bafd7909d15c139a08c495c24aa0" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_11978bafd7909d15c139a08c495c24aa0" kindref="member" tooltip="Evaluates  and writes result into A .">dfdu_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="89" refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" kindref="member" tooltip="Default constructor (dimy is not set!).">diffbifn</ref><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classfnc_122d51d10a7901331167f64f80d1af8e9" kindref="member" tooltip="Length of the output vector.">dimy</ref>,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvx0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rvu0<sp/>)<sp/>:<sp/><ref refid="classfnc" kindref="compound" tooltip="Class representing function  of variable  represented by rv.">fnc</ref>(dimy),<sp/><ref refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" kindref="member" tooltip="Indentifier of the first rv.">rvx</ref><sp/>(<sp/>rvx0<sp/>),<ref refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" kindref="member" tooltip="Indentifier of the second rv.">rvu</ref><sp/>(<sp/>rvu0<sp/>)<sp/>{<ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>=<ref refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" kindref="member" tooltip="Indentifier of the first rv.">rvx</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>();<ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref>=<ref refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" kindref="member" tooltip="Indentifier of the second rv.">rvu</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>();};</highlight></codeline>
+<codeline lineno="91" refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" kindref="member" tooltip="access function">_dimx</ref>()</highlight><highlight class="keyword"><sp/>const</highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>;}</highlight></codeline>
+<codeline lineno="93" refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" kindref="member" tooltip="access function">_dimu</ref>()</highlight><highlight class="keyword"><sp/>const</highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref>;}</highlight></codeline>
+<codeline lineno="94"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="comment">//TODO<sp/>can<sp/>be<sp/>generalized<sp/>into<sp/>multilinear<sp/>form!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="98" refid="classbilinfn" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classbilinfn" kindref="compound" tooltip="Class representing function .">bilinfn</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref></highlight></codeline>
+<codeline lineno="99"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>B;</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/>:</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0<sp/>);</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="106" refid="classbilinfn_1af9f36282730d910a41b95f4d1fb8221" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classbilinfn_1af9f36282730d910a41b95f4d1fb8221" kindref="member" tooltip="Default constructor.">bilinfn</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvx0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvu0<sp/>)<sp/>:<sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref><sp/>(<ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>,<sp/>rvx0,rvu0<sp/>)<sp/>,A<sp/>(<sp/>eye<sp/>(<sp/><ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref><sp/>)<sp/>),B<sp/>(<sp/>zeros<sp/>(<sp/><ref refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" kindref="member" tooltip="cache for rvx.count()">dimx</ref>,<ref refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" kindref="member" tooltip="cache for rvu.count()">dimu</ref><sp/>)<sp/>)<sp/><sp/>{};</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classbilinfn_1af9f36282730d910a41b95f4d1fb8221" kindref="member" tooltip="Default constructor.">bilinfn</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvx0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvu0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;B0<sp/>);</highlight></codeline>
+<codeline lineno="110" refid="classbilinfn_179c022de8dbe2b054bb9cc49345f3ef5" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classbilinfn_179c022de8dbe2b054bb9cc49345f3ef5" kindref="member" tooltip="Evaluates  and writes result into A .">dfdx_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;F,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full<sp/>)</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>F.cols()<sp/>==A.cols()<sp/>)<sp/>&amp;<sp/>(<sp/>F.rows()<sp/>==A.rows()<sp/>),</highlight><highlight class="stringliteral">&quot;Allocated<sp/>F<sp/>is<sp/>not<sp/>compatible.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>full<sp/>)<sp/>F=A;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//else<sp/>:<sp/>nothing<sp/>has<sp/>changed<sp/>no<sp/>need<sp/>to<sp/>regenerate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="116" refid="classbilinfn_190f2b15612b14883d6ed2b0e295cb82b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classbilinfn_190f2b15612b14883d6ed2b0e295cb82b" kindref="member" tooltip="Evaluates  and writes result into A .">dfdu_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;u0,<sp/>mat<sp/>&amp;F,<sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>(<sp/>F.cols()<sp/>==B.cols()<sp/>)<sp/>&amp;<sp/>(<sp/>F.rows()<sp/>==B.rows()<sp/>),</highlight><highlight class="stringliteral">&quot;Allocated<sp/>F<sp/>is<sp/>not<sp/>compatible.&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>full<sp/>)<sp/>F=B;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//else<sp/>:<sp/>nothing<sp/>has<sp/>changed<sp/>no<sp/>need<sp/>to<sp/>regenerate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="121"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight></codeline>
+<codeline lineno="123"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>FN_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/tests_2arx__c_8cpp.xml
===================================================================
--- /doc/xml/tests_2arx__c_8cpp.xml (revision 187)
+++ /doc/xml/tests_2arx__c_8cpp.xml (revision 187)
@@ -0,0 +1,121 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="tests_2arx__c_8cpp" kind="file">
+    <compoundname>arx_c.cpp</compoundname>
+    <includes refid="arx_8h" local="yes">../bdm/estim/arx.h</includes>
+    <incdepgraph>
+      <node id="486">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="485" relation="include">
+        </childnode>
+        <childnode refid="487" relation="include">
+        </childnode>
+      </node>
+      <node id="484">
+        <label>../bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="485" relation="include">
+        </childnode>
+        <childnode refid="486" relation="include">
+        </childnode>
+        <childnode refid="488" relation="include">
+        </childnode>
+      </node>
+      <node id="483">
+        <label>work/mixpp/tests/arx_c.cpp</label>
+        <link refid="tests/arx_c.cpp"/>
+        <childnode refid="484" relation="include">
+        </childnode>
+      </node>
+      <node id="487">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="485" relation="include">
+        </childnode>
+      </node>
+      <node id="489">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="485" relation="include">
+        </childnode>
+      </node>
+      <node id="485">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="490">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="485" relation="include">
+        </childnode>
+      </node>
+      <node id="488">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="485" relation="include">
+        </childnode>
+        <childnode refid="489" relation="include">
+        </childnode>
+        <childnode refid="487" relation="include">
+        </childnode>
+        <childnode refid="490" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="tests_2arx__c_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/arx_c.cpp" line="5" bodyfile="/home/smidl/work/mixpp/tests/arx_c.cpp" bodystart="5" bodyend="33"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&quot;../bdm/estim/arx.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>itf(</highlight><highlight class="stringliteral">&quot;DD&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>input<sp/>variables<sp/>to<sp/>IT++<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&gt;&gt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;DD&quot;</highlight><highlight class="normal">)<sp/>&gt;&gt;<sp/>Data;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows();</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/></highlight><highlight class="comment">//V0<sp/>(<sp/>0,0<sp/>)<sp/>*=1.0;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=3;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>estimate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;ndat;i++<sp/>)<sp/>{Ar.bayes<sp/>(<sp/>Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);<sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>th<sp/>=<sp/>Ar._epdf().mean();</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>th<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ll=Ar._ll();</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ll<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>str<sp/>=<sp/>Ar.structure_est<sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>(<sp/>thr,V0,nu0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>str<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/tests/arx_c.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classStringUI.xml
===================================================================
--- /doc/xml/classStringUI.xml (revision 187)
+++ /doc/xml/classStringUI.xml (revision 187)
@@ -0,0 +1,385 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classStringUI" kind="class" prot="public">
+    <compoundname>StringUI</compoundname>
+    <basecompoundref refid="classValuedUserInfo" prot="public" virt="non-virtual">ValuedUserInfo&lt; string &gt;</basecompoundref>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classStringUI_16e55d5eaa5684496569a8e694aa5f15e" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string *</type>
+        <definition>string* StringUI::AssemblyInstance</definition>
+        <argsstring>()</argsstring>
+        <name>AssemblyInstance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="702" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="701" bodyend="704"/>
+      </memberdef>
+      <memberdef kind="function" id="classStringUI_1856c952ffccb40fa0429ca5420dbdba6" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool StringUI::DisassemblyInstance</definition>
+        <argsstring>(string &amp;instance)</argsstring>
+        <name>DisassemblyInstance</name>
+        <param>
+          <type>string &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="707" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="706" bodyend="710"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classStringUI_1b6d730a02a8717e132dbfeab957264e4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>StringUI::StringUI</definition>
+        <argsstring>()</argsstring>
+        <name>StringUI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="714" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="713" bodyend="715"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" static="no" mutable="no">
+        <type>string</type>
+        <definition>string ValuedUserInfo&lt; string  &gt;::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+<para>string variable which is automatically binded to a proper DOMElement attribute </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="552" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="552" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; string &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt; string &gt; &amp; TypedUserInfo&lt; string &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <initializer> StringUI()</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1302">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1300" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1299">
+        <label>TypedUserInfo&lt; string &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1300" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1302" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1303">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1302" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1298">
+        <label>ValuedUserInfo&lt; string &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1299" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1303" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1300">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1301" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="1297">
+        <label>StringUI</label>
+        <childnode refid="1298" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1301">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1309">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="1311">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1307" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1306">
+        <label>TypedUserInfo&lt; string &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1307" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1306" relation="usage">
+          <edgelabel>instance</edgelabel>
+        </childnode>
+        <childnode refid="1311" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1310">
+        <label>string</label>
+      </node>
+      <node id="1312">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1311" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1310" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+      </node>
+      <node id="1305">
+        <label>ValuedUserInfo&lt; string &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1306" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1310" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+        <childnode refid="1312" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1307">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1308" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="1310" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="1304">
+        <label>StringUI</label>
+        <childnode refid="1305" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1308">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="1309" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="699" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="698" bodyend="716"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>StringUI</scope><name>Assembly</name></member>
+      <member refid="classStringUI_16e55d5eaa5684496569a8e694aa5f15e" prot="private" virt="non-virtual"><scope>StringUI</scope><name>AssemblyInstance</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>BindingFrame</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>StringUI</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>StringUI</scope><name>Disassembly</name></member>
+      <member refid="classStringUI_1856c952ffccb40fa0429ca5420dbdba6" prot="private" virt="non-virtual"><scope>StringUI</scope><name>DisassemblyInstance</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>instance</name></member>
+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="protected" virt="virtual"><scope>StringUI</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>removeSpaces</name></member>
+      <member refid="classStringUI_1b6d730a02a8717e132dbfeab957264e4" prot="public" virt="non-virtual"><scope>StringUI</scope><name>StringUI</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>UserInfo</name></member>
+      <member refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>value</name></member>
+      <member refid="classValuedUserInfo_186897fcfe4666183bcecf16a23715cdb" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>ValuedUserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>XMLCh2str</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>~TypedUserInfo</name></member>
+      <member refid="classValuedUserInfo_14c37684500f88a6d7d8d06b73ab5267a" prot="protected" virt="non-virtual"><scope>StringUI</scope><name>~ValuedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEngine.xml
===================================================================
--- /doc/xml/classEngine.xml (revision 187)
+++ /doc/xml/classEngine.xml (revision 187)
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEngine" kind="class" prot="public">
+    <compoundname>Engine</compoundname>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classEngine_17d71597a44e888e9d00e3316cf03fcb2" prot="public" static="no" mutable="no">
+        <type>string</type>
+        <definition>string Engine::producer</definition>
+        <argsstring></argsstring>
+        <name>producer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="6" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="6" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEngine_16b2299d36007cc08657ba8000001ec71" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double Engine::consumption</definition>
+        <argsstring></argsstring>
+        <name>consumption</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="7" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="7" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEngine_1ff29dca3fec38f3659506b551c845e43" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>Engine::Engine</definition>
+        <argsstring>(string producer, double consumption)</argsstring>
+        <name>Engine</name>
+        <param>
+          <type>string</type>
+          <declname>producer</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>consumption</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="12" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="9" bodyend="13"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <collaborationgraph>
+      <node id="830">
+        <label>string</label>
+      </node>
+      <node id="829">
+        <label>Engine</label>
+        <childnode refid="830" relation="usage">
+          <edgelabel>producer</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="4" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="3" bodyend="14"/>
+    <listofallmembers>
+      <member refid="classEngine_16b2299d36007cc08657ba8000001ec71" prot="public" virt="non-virtual"><scope>Engine</scope><name>consumption</name></member>
+      <member refid="classEngine_1ff29dca3fec38f3659506b551c845e43" prot="public" virt="non-virtual"><scope>Engine</scope><name>Engine</name></member>
+      <member refid="classEngine_17d71597a44e888e9d00e3316cf03fcb2" prot="public" virt="non-virtual"><scope>Engine</scope><name>producer</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classMemDS.xml
===================================================================
--- /doc/xml/classMemDS.xml (revision 187)
+++ /doc/xml/classMemDS.xml (revision 187)
@@ -0,0 +1,290 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classMemDS" kind="class" prot="public">
+    <compoundname>MemDS</compoundname>
+    <basecompoundref refid="classDS" prot="public" virt="non-virtual">DS</basecompoundref>
+    <includes refid="libDS_8h" local="no">libDS.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classMemDS_1ab45b03f3e154479fdea3cb02d5f8810" prot="private" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat MemDS::Data</definition>
+        <argsstring></argsstring>
+        <name>Data</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classMemDS_16c755a9befd9a9dcd91cad11073ba8a0" prot="private" static="no" mutable="no">
+        <type>int</type>
+        <definition>int MemDS::time</definition>
+        <argsstring></argsstring>
+        <name>time</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classMemDS_113e303d38a1d5e939b1f02e1f1591608" prot="private" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec MemDS::rowid</definition>
+        <argsstring></argsstring>
+        <name>rowid</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="31" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" bodystart="31" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classMemDS_1862d2f8512990e0a7a28ef2b2dee7bd0" prot="private" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec MemDS::delays</definition>
+        <argsstring></argsstring>
+        <name>delays</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="32" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void MemDS::getdata</definition>
+        <argsstring>(vec &amp;dt)</argsstring>
+        <name>getdata</name>
+        <reimplements refid="classDS_1db2dacc9e71a36eeb9c5c2ee402eeeb1">getdata</reimplements>
+        <param>
+          <type>vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Returns full vector of observed data. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="35" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.cpp" bodystart="6" bodyend="13"/>
+      </memberdef>
+      <memberdef kind="function" id="classMemDS_1900f1e1c9eb950f87e557c068628e60e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void MemDS::getdata</definition>
+        <argsstring>(vec &amp;dt, ivec &amp;indeces)</argsstring>
+        <name>getdata</name>
+        <reimplements refid="classDS_14027575bc66ea358f9b03dd3be28fe1e">getdata</reimplements>
+        <param>
+          <type>vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>ivec &amp;</type>
+          <declname>indeces</declname>
+        </param>
+        <briefdescription>
+<para>Returns data records at indeces. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.cpp" bodystart="15" bodyend="22"/>
+      </memberdef>
+      <memberdef kind="function" id="classMemDS_15f72b555e0e4a61de1440c457cf57007" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void MemDS::linkrvs</definition>
+        <argsstring>(RV &amp;drv, RV &amp;urv)</argsstring>
+        <name>linkrvs</name>
+        <reimplements refid="classDS_19a35ca9c9321dce2bf63bf668f785b75">linkrvs</reimplements>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>drv</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>urv</declname>
+        </param>
+        <briefdescription>
+<para>Method that assigns random variables to the datasource. Typically, the datasource will be constructed without knowledge of random variables. This method will associate existing variables with RVs. </para>        </briefdescription>
+        <detaileddescription>
+<para>(Inherited from m3k, may be deprecated soon). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.cpp" bodystart="28" bodyend="34"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classDS_11012025a1a3a1fdd24aa48698a3d3454" compoundref="libBM_8h" startline="233">DS::Drv</references>
+        <references refid="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" compoundref="libBM_8h" startline="235">DS::Urv</references>
+      </memberdef>
+      <memberdef kind="function" id="classMemDS_1b120ed178f7c848f1227c928d8a79be8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void MemDS::write</definition>
+        <argsstring>(vec &amp;ut)</argsstring>
+        <name>write</name>
+        <reimplements refid="classDS_10dfb6788b70c0d48a1f5276ed6c93039">write</reimplements>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ut</declname>
+        </param>
+        <briefdescription>
+<para>Accepts action variable and schedule it for application. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="38" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" bodystart="38" bodyend="38"/>
+      </memberdef>
+      <memberdef kind="function" id="classMemDS_16279bf18d44343750747ecc12e050f09" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void MemDS::write</definition>
+        <argsstring>(vec &amp;ut, ivec &amp;indexes)</argsstring>
+        <name>write</name>
+        <reimplements refid="classDS_1f4ae51a3bc1267a6a52fc229973afe85">write</reimplements>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ut</declname>
+        </param>
+        <param>
+          <type>ivec &amp;</type>
+          <declname>indeces</declname>
+        </param>
+        <briefdescription>
+<para>Accepts action variables at specific indeces. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" bodystart="39" bodyend="39"/>
+      </memberdef>
+      <memberdef kind="function" id="classMemDS_121916feb3e5ff960855c09b06a0d279b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void MemDS::step</definition>
+        <argsstring>()</argsstring>
+        <name>step</name>
+        <reimplements refid="classDS_1470ba89e8e7c3c4d830803221b4e9be6">step</reimplements>
+        <briefdescription>
+<para>Moves from <formula id="38">$t$</formula> to <formula id="39">$t+1$</formula>, i.e. perfroms the actions and reads response of the system. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.cpp" bodystart="24" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classMemDS_184cfba80cb32d07be94690658175e9c4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>MemDS::MemDS</definition>
+        <argsstring>(mat &amp;Dat, ivec &amp;rowid, ivec &amp;delays)</argsstring>
+        <name>MemDS</name>
+        <param>
+          <type>mat &amp;</type>
+          <declname>Dat</declname>
+        </param>
+        <param>
+          <type>ivec &amp;</type>
+          <declname>rowid</declname>
+        </param>
+        <param>
+          <type>ivec &amp;</type>
+          <declname>delays</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.cpp" bodystart="36" bodyend="42"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classDS_11012025a1a3a1fdd24aa48698a3d3454" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV DS::Drv</definition>
+        <argsstring></argsstring>
+        <name>Drv</name>
+        <briefdescription>
+<para>Observed variables, returned by <computeroutput><ref refid="classDS_1db2dacc9e71a36eeb9c5c2ee402eeeb1" kindref="member">getdata()</ref></computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="233" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="233" bodyend="-1"/>
+        <referencedby refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" compoundref="libDS_8cpp" startline="28" endline="34">linkrvs</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV DS::Urv</definition>
+        <argsstring></argsstring>
+        <name>Urv</name>
+        <briefdescription>
+<para>Action variables, accepted by <computeroutput><ref refid="classDS_10dfb6788b70c0d48a1f5276ed6c93039" kindref="member">write()</ref></computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="235" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="235" bodyend="-1"/>
+        <referencedby refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" compoundref="libDS_8cpp" startline="28" endline="34">linkrvs</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class representing off-line data stored in memory. </para>    </briefdescription>
+    <detaileddescription>
+<para>The data are stored in an internal matrix <computeroutput>Data</computeroutput> . Each column of Data corresponds to one discrete time observation <formula id="38">$t$</formula>. Access to this matrix is via indexes <computeroutput>rowid</computeroutput> and <computeroutput>delays</computeroutput>.</para><para>The data can be loaded from a file. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1174">
+        <label>MemDS</label>
+        <link refid="classMemDS"/>
+        <childnode refid="1175" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1175">
+        <label>DS</label>
+        <link refid="classDS"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1176">
+        <label>MemDS</label>
+        <link refid="classMemDS"/>
+        <childnode refid="1177" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1177">
+        <label>DS</label>
+        <link refid="classDS"/>
+        <childnode refid="1178" relation="usage">
+          <edgelabel>Urv
+Drv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1178">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" line="28" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libDS.h" bodystart="28" bodyend="43"/>
+    <listofallmembers>
+      <member refid="classMemDS_1ab45b03f3e154479fdea3cb02d5f8810" prot="private" virt="non-virtual"><scope>MemDS</scope><name>Data</name></member>
+      <member refid="classMemDS_1862d2f8512990e0a7a28ef2b2dee7bd0" prot="private" virt="non-virtual"><scope>MemDS</scope><name>delays</name></member>
+      <member refid="classDS_11012025a1a3a1fdd24aa48698a3d3454" prot="protected" virt="non-virtual"><scope>MemDS</scope><name>Drv</name></member>
+      <member refid="classMemDS_123522b9e7dd0bb0c365cc9cde4c05449" prot="public" virt="non-virtual"><scope>MemDS</scope><name>getdata</name></member>
+      <member refid="classMemDS_1900f1e1c9eb950f87e557c068628e60e" prot="public" virt="non-virtual"><scope>MemDS</scope><name>getdata</name></member>
+      <member refid="classMemDS_15f72b555e0e4a61de1440c457cf57007" prot="public" virt="non-virtual"><scope>MemDS</scope><name>linkrvs</name></member>
+      <member refid="classMemDS_184cfba80cb32d07be94690658175e9c4" prot="public" virt="non-virtual"><scope>MemDS</scope><name>MemDS</name></member>
+      <member refid="classMemDS_113e303d38a1d5e939b1f02e1f1591608" prot="private" virt="non-virtual"><scope>MemDS</scope><name>rowid</name></member>
+      <member refid="classMemDS_121916feb3e5ff960855c09b06a0d279b" prot="public" virt="non-virtual"><scope>MemDS</scope><name>step</name></member>
+      <member refid="classMemDS_16c755a9befd9a9dcd91cad11073ba8a0" prot="private" virt="non-virtual"><scope>MemDS</scope><name>time</name></member>
+      <member refid="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" prot="protected" virt="non-virtual"><scope>MemDS</scope><name>Urv</name></member>
+      <member refid="classMemDS_1b120ed178f7c848f1227c928d8a79be8" prot="public" virt="non-virtual"><scope>MemDS</scope><name>write</name></member>
+      <member refid="classMemDS_16279bf18d44343750747ecc12e050f09" prot="public" virt="non-virtual"><scope>MemDS</scope><name>write</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libPF_8h.xml
===================================================================
--- /doc/xml/libPF_8h.xml (revision 187)
+++ /doc/xml/libPF_8h.xml (revision 187)
@@ -0,0 +1,277 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libPF_8h" kind="file">
+    <compoundname>libPF.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libEF_8h" local="yes">../stat/libEF.h</includes>
+    <includes refid="libDC_8h" local="yes">../math/libDC.h</includes>
+    <includedby refid="libPF_8cpp" local="yes">work/git/mixpp/bdm/estim/libPF.cpp</includedby>
+    <includedby refid="pmsm__mix_8cpp" local="no">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby>
+    <includedby refid="pmsm__sim_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim.cpp</includedby>
+    <includedby refid="pmsm__sim2_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby>
+    <includedby refid="pmsm__sim3_8cpp" local="no">work/git/mixpp/pmsm/pmsm_sim3.cpp</includedby>
+    <includedby refid="pmsm__unkQ_8cpp" local="no">work/git/mixpp/pmsm/pmsm_unkQ.cpp</includedby>
+    <includedby refid="pmsm__unkQpf_8cpp" local="no">work/git/mixpp/pmsm/pmsm_unkQpf.cpp</includedby>
+    <includedby refid="testKF__QR_8cpp" local="no">work/git/mixpp/tests/testKF_QR.cpp</includedby>
+    <includedby refid="testKF__QRexh_8cpp" local="no">work/git/mixpp/tests/testKF_QRexh.cpp</includedby>
+    <includedby refid="testPF_8cpp" local="no">work/git/mixpp/tests/testPF.cpp</includedby>
+    <includedby refid="testResample_8cpp" local="no">work/git/mixpp/tests/testResample.cpp</includedby>
+    <incdepgraph>
+      <node id="259">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="256" relation="include">
+        </childnode>
+      </node>
+      <node id="260">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="256" relation="include">
+        </childnode>
+      </node>
+      <node id="257">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="256" relation="include">
+        </childnode>
+        <childnode refid="258" relation="include">
+        </childnode>
+        <childnode refid="259" relation="include">
+        </childnode>
+        <childnode refid="260" relation="include">
+        </childnode>
+      </node>
+      <node id="255">
+        <label>work/git/mixpp/bdm/estim/libPF.h</label>
+        <link refid="libPF.h"/>
+        <childnode refid="256" relation="include">
+        </childnode>
+        <childnode refid="257" relation="include">
+        </childnode>
+        <childnode refid="258" relation="include">
+        </childnode>
+      </node>
+      <node id="256">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="258">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="256" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="261">
+        <label>work/git/mixpp/bdm/estim/libPF.h</label>
+        <link refid="libPF.h"/>
+        <childnode refid="262" relation="include">
+        </childnode>
+      </node>
+      <node id="262">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classPF" prot="public">PF</innerclass>
+    <innerclass refid="classMPF" prot="public">MPF</innerclass>
+    <innerclass refid="classMPF_1_1mpfepdf" prot="private">MPF::mpfepdf</innerclass>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="libPF_8h_1718eb6f36f33fd5898956fb950d0d8f2" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double PF_SSAT</definition>
+        <argsstring></argsstring>
+        <name>PF_SSAT</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="23"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Bayesian Filtering using stochastic sampling (Particle Filters). </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>PF_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>PF_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../stat/libEF.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../math/libDC.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//UGLY<sp/>HACK</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>PF_SSAT;</highlight><highlight class="comment">//used<sp/>for<sp/>StrSim:06<sp/>test...<sp/>if<sp/>length&gt;0<sp/>the<sp/>value<sp/>is<sp/>written.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31" refid="classPF" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classPF" kindref="compound" tooltip="Trivial particle filter with proposal density equal to parameter evolution model...">PF</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>{</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="34" refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref>;</highlight></codeline>
+<codeline lineno="36" refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp" kindref="compound" tooltip="Weighted empirical density.">eEmp</ref><sp/><ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member" tooltip="posterior density">est</ref>;</highlight></codeline>
+<codeline lineno="38" refid="classPF_15c87aba508df321ff26536ced64dbb3a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>&amp;<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref>;</highlight></codeline>
+<codeline lineno="40" refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;vec&gt;<sp/>&amp;<ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref>;</highlight></codeline>
+<codeline lineno="42" refid="classPF_1d92ac103f88f8c21e197e90af5695a09" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>&amp;<ref refid="classPF_1d92ac103f88f8c21e197e90af5695a09" kindref="member" tooltip="Parameter evolution model.">par</ref>;</highlight></codeline>
+<codeline lineno="44" refid="classPF_1dd0a687a4515333d6809147335854e77" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>&amp;<ref refid="classPF_1dd0a687a4515333d6809147335854e77" kindref="member" tooltip="Observation model.">obs</ref>;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="47" refid="classPF_1e99f0d866721405dd281e315ecb690aa" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_1e99f0d866721405dd281e315ecb690aa" kindref="member" tooltip="Default constructor.">PF</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0,<sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>&amp;par0,<sp/><sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>&amp;obs0,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n0<sp/>)<sp/>:<ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>(<sp/>rv0<sp/>),</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref><sp/>(<sp/>n0<sp/>),<ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member" tooltip="posterior density">est</ref><sp/>(<sp/>rv0,<ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref><sp/>),<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/><ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member" tooltip="posterior density">est</ref>.<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref>()<sp/>),<ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/><ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member" tooltip="posterior density">est</ref>.<ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref>()<sp/>),</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_1d92ac103f88f8c21e197e90af5695a09" kindref="member" tooltip="Parameter evolution model.">par</ref><sp/>(<sp/>par0<sp/>),<sp/><ref refid="classPF_1dd0a687a4515333d6809147335854e77" kindref="member" tooltip="Observation model.">obs</ref><sp/>(<sp/>obs0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classPF_104d38fbcc0348b558212f530d9ec183e" kindref="member" tooltip="Set posterior density by sampling from epdf0.">set_est</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>&amp;epdf0<sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classPF_164f636bbd63bea9efd778214e6b631d3" kindref="member" tooltip="Incremental Bayes rule.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>BM_T&gt;</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64" refid="classMPF" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classPF" kindref="compound" tooltip="Trivial particle filter with proposal density equal to parameter evolution model...">PF</ref><sp/>{</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>BM_T*<sp/>Bms[10000];</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">mpfepdf<sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/><sp/>{</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp" kindref="compound" tooltip="Weighted empirical density.">eEmp</ref><sp/>&amp;E;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>&amp;<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref>;</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;epdf*&gt;<sp/>Coms;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mpfepdf<sp/>(<sp/><ref refid="classeEmp" kindref="compound" tooltip="Weighted empirical density.">eEmp</ref><sp/>&amp;E0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvc<sp/>)<sp/>:</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref>(<sp/>)<sp/>),<sp/>E<sp/>(<sp/>E0<sp/>),<sp/><sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>E._w()<sp/>),</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Coms<sp/>(<sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref>.length()<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>.<ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">add</ref><sp/>(<sp/>E._rv()<sp/>);</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>.<ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">add</ref><sp/>(<sp/>rvc<sp/>);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_elements<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>&amp;i,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>wi,<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>*<sp/>ep<sp/>)</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>i<sp/>)<sp/>=wi;<sp/>Coms<sp/>(<sp/>i<sp/>)<sp/>=ep;};</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mean()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ugly</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>pom=zeros<sp/>(<sp/>(<sp/>Coms<sp/>(<sp/>0<sp/>)-&gt;<ref refid="classBM_1126bd2595c48e311fc2a7ab72876092a" kindref="member" tooltip="access function">_rv</ref>()<sp/>).count()<sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;<sp/>i&lt;<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref>.length();<sp/>i++<sp/>)<sp/>{pom<sp/>+=<sp/>Coms<sp/>(<sp/>i<sp/>)-&gt;mean()<sp/>*<sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>i<sp/>);}</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>concat<sp/>(<sp/>E.mean(),pom<sp/>);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>sample()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;}</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>evalpdflog<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;not<sp/>implemented&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0.0;}</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mpfepdf<sp/>jest;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="104" refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" kindref="member" tooltip="Default constructor.">MPF</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvlin,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvpf,<sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>&amp;par0,<sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>&amp;obs0,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref>,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>BM_T<sp/>&amp;BMcond0<sp/>)<sp/>:<sp/><ref refid="classPF" kindref="compound" tooltip="Trivial particle filter with proposal density equal to parameter evolution model...">PF</ref><sp/>(<sp/>rvpf<sp/>,par0,obs0,n<sp/>),jest<sp/>(<sp/><ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member" tooltip="posterior density">est</ref>,rvlin<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//TODO<sp/>test<sp/>if<sp/>rv<sp/>and<sp/>BMcond.rv<sp/>are<sp/>compatible.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>.<ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">add</ref><sp/>(<sp/>rvlin<sp/>);</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n&gt;10000<sp/>)<sp/>{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;increase<sp/>10000<sp/>here!&quot;</highlight><highlight class="normal"><sp/>);}</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Bms[i]<sp/>=<sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>BM_T<sp/>(<sp/>BMcond0<sp/>);<sp/></highlight><highlight class="comment">//copy<sp/>constructor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pom=Bms[i]-&gt;_epdf();</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>jest.set_elements<sp/>(<sp/>i,1.0/n,&amp;pom<sp/>);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>~<ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMPF_155daf8e4b6553dd9f47c692de7931623" kindref="member" tooltip="Incremental Bayes rule.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="123" refid="classMPF_1549e08268a46a250f21a33d06f19276a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/><ref refid="classMPF_1549e08268a46a250f21a33d06f19276a" kindref="member" tooltip="Returns a pointer to the epdf representing posterior density on parameters. Use with...">_epdf</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>jest;}</highlight></codeline>
+<codeline lineno="125" refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" kindref="member" tooltip="Set postrior of rvc to samples from epdf0. Statistics of Bms are not re-computed!...">set_est</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>epdf0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_104d38fbcc0348b558212f530d9ec183e" kindref="member" tooltip="Set posterior density by sampling from epdf0.">PF::set_est</ref><sp/>(<sp/>epdf0<sp/>);<sp/><sp/></highlight><highlight class="comment">//<sp/>sample<sp/>params<sp/>in<sp/>condition</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>copy<sp/>conditions<sp/>to<sp/>BMs</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;<ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref>;i++<sp/>)<sp/>{Bms[i]-&gt;condition<sp/>(<sp/><ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>)<sp/>);}</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight><highlight class="comment">//SimStr:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>SSAT;</highlight></codeline>
+<codeline lineno="134"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight><highlight class="keyword">template</highlight><highlight class="normal">&lt;</highlight><highlight class="keyword">class</highlight><highlight class="normal"><sp/>BM_T&gt;</highlight></codeline>
+<codeline lineno="137" refid="classMPF_155daf8e4b6553dd9f47c692de7931623" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classMPF_155daf8e4b6553dd9f47c692de7931623" kindref="member" tooltip="Incremental Bayes rule.">MPF&lt;BM_T&gt;::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>lls<sp/>(<sp/><ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>llsP<sp/>(<sp/><ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ind;</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>mlls=-std::numeric_limits&lt;double&gt;::infinity();</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>StrSim:06</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sumLWL=0.0;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sumL2WL=0.0;</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>WL<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"></highlight><highlight class="preprocessor"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>#pragma<sp/>omp<sp/>parallel<sp/>for</highlight></codeline>
+<codeline lineno="150"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref>;i++<sp/>)<sp/>{<sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//generate<sp/>new<sp/>samples<sp/>from<sp/>paramater<sp/>evolution<sp/>model;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>)<sp/>=<sp/><ref refid="classPF_1d92ac103f88f8c21e197e90af5695a09" kindref="member" tooltip="Parameter evolution model.">par</ref>.<ref refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" kindref="member" tooltip="Returns the required moment of the epdf.">samplecond</ref><sp/>(<sp/><ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>),<sp/>llsP<sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Bms[i]-&gt;condition<sp/>(<sp/><ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Bms[i]-&gt;bayes<sp/>(<sp/>dt<sp/>);</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lls<sp/>(<sp/>i<sp/>)<sp/>=<sp/>Bms[i]-&gt;_ll();<sp/></highlight><highlight class="comment">//<sp/>lls<sp/>above<sp/>is<sp/>also<sp/>in<sp/>proposal<sp/>her<sp/>must<sp/>be<sp/>lls(i)<sp/>=,<sp/>not<sp/>+=!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>lls<sp/>(<sp/>i<sp/>)<sp/>&gt;mlls<sp/>)<sp/>mlls=lls<sp/>(<sp/>i<sp/>);<sp/></highlight><highlight class="comment">//find<sp/>maximum<sp/>likelihood<sp/>(for<sp/>numerical<sp/>stability)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">)<sp/>{</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"></highlight><highlight class="preprocessor"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>#pragma<sp/>omp<sp/>parallel<sp/>for<sp/>reduction(+:sumLWL,sumL2WL)<sp/>private(WL)</highlight></codeline>
+<codeline lineno="161"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>WL<sp/>=<sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>i<sp/>)<sp/>*exp<sp/>(<sp/>llsP<sp/>(<sp/>i<sp/>)<sp/>);<sp/></highlight><highlight class="comment">//using<sp/>old<sp/>weights!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sumLWL<sp/>+=<sp/>exp<sp/>(<sp/>lls<sp/>(<sp/>i<sp/>)<sp/>)<sp/>*WL;</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sumL2WL<sp/>+=<sp/>exp<sp/>(<sp/>2*lls<sp/>(<sp/>i<sp/>)<sp/>)<sp/>*WL;</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>SSAT<sp/><sp/>=<sp/>sumL2WL/<sp/>(<sp/>sumLWL*sumLWL<sp/>);</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"></highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sum_w=0.0;</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>compute<sp/>weights</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight><highlight class="preprocessor"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>#pragma<sp/>omp<sp/>parallel<sp/>for</highlight></codeline>
+<codeline lineno="172"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>i<sp/>)<sp/>*=<sp/>exp<sp/>(<sp/>lls<sp/>(<sp/>i<sp/>)<sp/>-<sp/>mlls<sp/>);<sp/></highlight><highlight class="comment">//<sp/>multiply<sp/>w<sp/>by<sp/>likelihood</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum_w+=<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref>(i);</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>sum_w<sp/><sp/>&gt;0.0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>/=sum_w;<sp/></highlight><highlight class="comment">//?</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout&lt;&lt;</highlight><highlight class="stringliteral">&quot;sum(w)==0&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>eff<sp/>=<sp/>1.0/<sp/>(<sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref>*<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>);</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>eff<sp/>&lt;<sp/>(<sp/>0.3*n<sp/>)<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ind<sp/>=<sp/><ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member" tooltip="posterior density">est</ref>.<ref refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" kindref="member" tooltip="Function performs resampling, i.e. removal of low-weight samples and duplication...">resample</ref>();</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Resample<sp/>Bms!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="188"><highlight class="normal"></highlight></codeline>
+<codeline lineno="189"><highlight class="normal"></highlight><highlight class="preprocessor"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>#pragma<sp/>omp<sp/>parallel<sp/>for</highlight></codeline>
+<codeline lineno="190"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>ind<sp/>(<sp/>i<sp/>)<sp/>!=i<sp/>)<sp/>{</highlight><highlight class="comment">//replace<sp/>the<sp/>current<sp/>Bm<sp/>by<sp/>a<sp/>new<sp/>one</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//fixme<sp/>this<sp/>would<sp/>require<sp/>new<sp/>assignment<sp/>operator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>*Bms[i]<sp/>=<sp/>*Bms[ind<sp/>(<sp/>i<sp/>)<sp/>];</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="194"><highlight class="normal"></highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>poor-man&apos;s<sp/>solution:<sp/>replicate<sp/>constructor<sp/>here</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>copied<sp/>from<sp/>MPF::MPF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">delete</highlight><highlight class="normal"><sp/>Bms[i];</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Bms[i]<sp/>=<sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/>BM_T<sp/>(<sp/>*Bms[ind<sp/>(<sp/>i<sp/>)<sp/>]<sp/>);<sp/></highlight><highlight class="comment">//copy<sp/>constructor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pom=Bms[i]-&gt;_epdf();</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>jest.set_elements<sp/>(<sp/>i,1.0/n,&amp;pom<sp/>);</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="charliteral">&apos;.&apos;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="205"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"></highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>KF_H</highlight></codeline>
+<codeline lineno="208"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_345b5e260735c3ed0e165b33f1d2e0be.xml
===================================================================
--- /doc/xml/dir_345b5e260735c3ed0e165b33f1d2e0be.xml (revision 187)
+++ /doc/xml/dir_345b5e260735c3ed0e165b33f1d2e0be.xml (revision 187)
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_345b5e260735c3ed0e165b33f1d2e0be" kind="dir">
+    <compoundname>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/</compoundname>
+    <innerdir refid="dir_3507d3b70a7167572b24a39439ec5939">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/</innerdir>
+    <innerfile refid="ekf_8cpp">ekf.cpp</innerfile>
+    <innerfile refid="ekf_8h">ekf.h</innerfile>
+    <innerfile refid="ekf__obj_8cpp">ekf_obj.cpp</innerfile>
+    <innerfile refid="ekf__obj_8h">ekf_obj.h</innerfile>
+    <innerfile refid="fixed_8cpp">fixed.cpp</innerfile>
+    <innerfile refid="fixed_8h">fixed.h</innerfile>
+    <innerfile refid="matrix_8cpp">matrix.cpp</innerfile>
+    <innerfile refid="matrix_8h">matrix.h</innerfile>
+    <innerfile refid="ekf__example_2nastaveni__regulatoru__float_8h">nastaveni_regulatoru_float.h</innerfile>
+    <innerfile refid="parametry__motoru_8h">parametry_motoru.h</innerfile>
+    <innerfile refid="pmsm__mod_8cpp">pmsm_mod.cpp</innerfile>
+    <innerfile refid="pmsm__mod_8h">pmsm_mod.h</innerfile>
+    <innerfile refid="pwm_8cpp">pwm.cpp</innerfile>
+    <innerfile refid="pwm_8h">pwm.h</innerfile>
+    <innerfile refid="reference_8h">reference.h</innerfile>
+    <innerfile refid="ekf__example_2regulace_8cpp">regulace.cpp</innerfile>
+    <innerfile refid="ekf__example_2regulace_8h">regulace.h</innerfile>
+    <innerfile refid="simul_8cpp">simul.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/merg__pred_8cpp.xml
===================================================================
--- /doc/xml/merg__pred_8cpp.xml (revision 187)
+++ /doc/xml/merg__pred_8cpp.xml (revision 187)
@@ -0,0 +1,217 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="merg__pred_8cpp" kind="file">
+    <compoundname>merg_pred.cpp</compoundname>
+    <includes refid="arx_8h" local="no">estim/arx.h</includes>
+    <includes refid="libEF_8h" local="no">stat/libEF.h</includes>
+    <includes refid="loggers_8h" local="no">stat/loggers.h</includes>
+    <includes refid="merger_8h" local="no">stat/merger.h</includes>
+    <incdepgraph>
+      <node id="556">
+        <label>stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+        <childnode refid="552" relation="include">
+        </childnode>
+        <childnode refid="555" relation="include">
+        </childnode>
+      </node>
+      <node id="552">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+      </node>
+      <node id="557">
+        <label>stat/merger.h</label>
+        <link refid="merger_8h"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+        <childnode refid="552" relation="include">
+        </childnode>
+        <childnode refid="553" relation="include">
+        </childnode>
+        <childnode refid="558" relation="include">
+        </childnode>
+      </node>
+      <node id="558">
+        <label>emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="552" relation="include">
+        </childnode>
+        <childnode refid="553" relation="include">
+        </childnode>
+      </node>
+      <node id="555">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+      </node>
+      <node id="548">
+        <label>work/git/mixpp/mpdm/merg_pred.cpp</label>
+        <link refid="merg_pred.cpp"/>
+        <childnode refid="549" relation="include">
+        </childnode>
+        <childnode refid="553" relation="include">
+        </childnode>
+        <childnode refid="556" relation="include">
+        </childnode>
+        <childnode refid="557" relation="include">
+        </childnode>
+      </node>
+      <node id="553">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+        <childnode refid="554" relation="include">
+        </childnode>
+        <childnode refid="552" relation="include">
+        </childnode>
+        <childnode refid="555" relation="include">
+        </childnode>
+      </node>
+      <node id="549">
+        <label>estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+        <childnode refid="551" relation="include">
+        </childnode>
+        <childnode refid="553" relation="include">
+        </childnode>
+      </node>
+      <node id="551">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+        <childnode refid="552" relation="include">
+        </childnode>
+      </node>
+      <node id="550">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="554">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="550" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="merg__pred_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/mpdm/merg_pred.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/mpdm/merg_pred.cpp" bodystart="11" bodyend="90"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;<ref refid="arx_8h" kindref="compound" tooltip="Bayesian Filtering for generalized autoregressive (ARX) model.">estim/arx.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">stat/libEF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">stat/loggers.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="merger_8h" kindref="compound" tooltip="Mergers for combination of pdfs.">stat/merger.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Setup<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>y<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{y<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>u1<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{u1<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>u2<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{u2<sp/>}&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Full<sp/>system</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>thg<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.7<sp/>1<sp/>1&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//Simulated<sp/>system</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//y=a<sp/>y_t-1<sp/>+<sp/>u1<sp/>+<sp/>u2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sqr=0.1;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ord<sp/>=<sp/>1;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Estimated<sp/>systems<sp/>ARX(2)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thri<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{thr_i<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>2+1<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thrg<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{thr_g<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>3+1<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Setup<sp/>values</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ARX<sp/>constructor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0<sp/>=<sp/>0.001*eye<sp/>(<sp/>thri.count()<sp/>);<sp/>V0<sp/>(<sp/>0,0<sp/>)<sp/>*=<sp/>10;<sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0g<sp/>=<sp/>0.001*eye<sp/>(<sp/>thrg.count()<sp/>);<sp/>V0g<sp/>(<sp/>0,0<sp/>)<sp/>*=<sp/>10;<sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0<sp/>=<sp/>ord+1;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>frg<sp/>=<sp/>0.99;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>P1<sp/>(<sp/>thri,<sp/>V0,<sp/>nu0,<sp/>frg<sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>P2<sp/>(<sp/>thri,<sp/>V0,<sp/>nu0,<sp/>frg<sp/>);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>PG<sp/>(<sp/>thrg,<sp/>V0g,<sp/>nu0,<sp/>frg<sp/>);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>estimation</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat<sp/>=<sp/>10000;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Logging</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>L<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;exp/merg&quot;</highlight><highlight class="normal">,ndat<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Eth1_log<sp/>=<sp/>L.add<sp/>(<sp/>thri,</highlight><highlight class="stringliteral">&quot;P1&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Eth2_log<sp/>=<sp/>L.add<sp/>(<sp/>thri,</highlight><highlight class="stringliteral">&quot;P2&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ethg_log<sp/>=<sp/>L.add<sp/>(<sp/>thrg,</highlight><highlight class="stringliteral">&quot;PG&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Data_log<sp/>=<sp/>L.add<sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{Y<sp/>U1<sp/>U2<sp/>}&quot;</highlight><highlight class="normal"><sp/>),<sp/></highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>LL_log<sp/><sp/><sp/>=<sp/>L.add<sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{1<sp/>2<sp/>G<sp/>}&quot;</highlight><highlight class="normal"><sp/>),<sp/></highlight><highlight class="stringliteral">&quot;LL&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.init();</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Yt<sp/>(<sp/>ndat<sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Yt.set_subvector<sp/>(<sp/>0,randn<sp/>(<sp/>ord<sp/>)<sp/>);<sp/></highlight><highlight class="comment">//initial<sp/>values</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>rgrg<sp/>(<sp/>thg.length()<sp/>);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>rgri<sp/>(<sp/>thri.count()<sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>t=0;<sp/>t&lt;ndat;<sp/>t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>True<sp/>system</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>t&gt;0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgrg<sp/>(<sp/>0<sp/>)<sp/>=Yt<sp/>(<sp/>t-1<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgrg<sp/>(<sp/>1<sp/>)<sp/>=<sp/>pow(sin<sp/>(<sp/>(<sp/>t/40.0<sp/>)<sp/>*pi<sp/>),3);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgrg<sp/>(<sp/>2<sp/>)<sp/>=<sp/>pow(cos<sp/>(<sp/>(<sp/>t/40.0<sp/>)<sp/>*pi<sp/>),3);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Yt<sp/>(<sp/>t<sp/>)<sp/>=<sp/>thg*rgrg<sp/>+<sp/>sqr<sp/>*<sp/>NorRNG();</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>1st</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgri<sp/>(<sp/>0<sp/>)<sp/>=Yt<sp/>(<sp/>t<sp/>);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgri<sp/>(<sp/>1<sp/>)<sp/>=Yt<sp/>(<sp/>t-1<sp/>);</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgri<sp/>(<sp/>2<sp/>)<sp/>=rgrg<sp/>(<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P1.bayes<sp/>(<sp/>rgri<sp/>);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>2nd</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgri<sp/>(<sp/>2<sp/>)<sp/>=rgrg<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P2.bayes<sp/>(<sp/>rgri<sp/>);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Global</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>PG.bayes<sp/>(<sp/>concat<sp/>(<sp/>Yt<sp/>(<sp/>t<sp/>),rgrg<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Merger</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit<sp/>(<sp/>Eth1_log,<sp/>P1._epdf().mean()<sp/>);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit<sp/>(<sp/>Eth2_log,<sp/>P2._epdf().mean()<sp/>);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit<sp/>(<sp/>Ethg_log,<sp/>PG._epdf().mean()<sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit<sp/>(<sp/>Data_log,<sp/>vec_3<sp/>(<sp/>Yt<sp/>(<sp/>t<sp/>),<sp/>rgrg<sp/>(<sp/>1<sp/>),<sp/>rgrg<sp/>(<sp/>2<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit<sp/>(<sp/>LL_log,<sp/>vec_3<sp/>(<sp/>P1._ll(),<sp/>P2._ll(),<sp/>PG._ll()<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.step<sp/>(<sp/><sp/>);</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.finalize(<sp/>);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.itsave<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;merg.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/mpdm/merg_pred.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/fixed_8h.xml
===================================================================
--- /doc/xml/fixed_8h.xml (revision 187)
+++ /doc/xml/fixed_8h.xml (revision 187)
@@ -0,0 +1,172 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="fixed_8h" kind="file">
+    <compoundname>fixed.h</compoundname>
+    <includedby refid="ekf_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp</includedby>
+    <includedby refid="ekf__obj_8h" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</includedby>
+    <includedby refid="fixed_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp</includedby>
+    <invincdepgraph>
+      <node id="755">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.h</label>
+        <link refid="fixed.h"/>
+        <childnode refid="756" relation="include">
+        </childnode>
+      </node>
+      <node id="756">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+    </invincdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="fixed_8h_198167cf2f2a56e52fe05495e1ac08678" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>long</type>
+        <definition>long prevod</definition>
+        <argsstring>(double x, unsigned int posun)</argsstring>
+        <name>prevod</name>
+        <param>
+          <type>double</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>posun</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.h" line="8"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8h_1621d21561d09502b53759d627511b688" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double zprevod</definition>
+        <argsstring>(long x, unsigned int posun)</argsstring>
+        <name>zprevod</name>
+        <param>
+          <type>long</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>posun</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.h" line="10"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8h_150d456f9c404f8c7e49246d61930c59c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>long</type>
+        <definition>long nasob</definition>
+        <argsstring>(int x, int y, unsigned int posun)</argsstring>
+        <name>nasob</name>
+        <param>
+          <type>int</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>y</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>posun</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.h" line="12"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8h_19aaf1455f6660d8566e6876236e3e3ab" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int deleni15</definition>
+        <argsstring>(int x, int y)</argsstring>
+        <name>deleni15</name>
+        <param>
+          <type>int</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>y</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.h" line="14"/>
+      </memberdef>
+      <memberdef kind="function" id="fixed_8h_1ea13e9b9069cde6d7947242971c7780c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int deleni</definition>
+        <argsstring>(int x, int y, int posun1, int posun2, int scale, int posun_fin)</argsstring>
+        <name>deleni</name>
+        <param>
+          <type>int</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>y</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>posun1</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>posun2</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>scale</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>posun_fin</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.h" line="16"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*<sp/></highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Operace<sp/>v<sp/>pevne<sp/>radove<sp/>carce</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>9.10.2005</highlight></codeline>
+<codeline lineno="5"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>prevod(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prevod<sp/>&quot;x&quot;<sp/>do<sp/>systemu<sp/>&quot;Qposun&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>zprevod(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prevod<sp/>&quot;x&quot;<sp/>ze<sp/>systemu<sp/>&quot;Qposun&quot;<sp/>do<sp/>DOUBLE</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>nasob(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(x*y)&gt;&gt;posun</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(x*Q15/y)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>scale,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun_fin);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//<sp/>obecne<sp/>deleni:<sp/>x_&quot;Qposun1&quot;*&quot;Qscale&quot;/y_&quot;Qposun2&quot;<sp/>-&gt;<sp/>&quot;Q_posun_fin&quot;</highlight><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/hello-pskel_8hxx.xml
===================================================================
--- /doc/xml/hello-pskel_8hxx.xml (revision 187)
+++ /doc/xml/hello-pskel_8hxx.xml (revision 187)
@@ -0,0 +1,410 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="hello-pskel_8hxx" kind="file">
+    <compoundname>hello-pskel.hxx</compoundname>
+    <includes local="no">xsd/cxx/version.hxx</includes>
+    <includes local="no">xsd/cxx/pre.hxx</includes>
+    <includes local="no">xsd/cxx/xml/error-handler.hxx</includes>
+    <includes local="no">xsd/cxx/parser/exceptions.hxx</includes>
+    <includes local="no">xsd/cxx/parser/elements.hxx</includes>
+    <includes local="no">xsd/cxx/parser/xml-schema.hxx</includes>
+    <includes local="no">xsd/cxx/parser/non-validating/parser.hxx</includes>
+    <includes local="no">xsd/cxx/parser/non-validating/xml-schema-pskel.hxx</includes>
+    <includes local="no">xsd/cxx/parser/non-validating/xml-schema-pimpl.hxx</includes>
+    <includes local="no">xsd/cxx/parser/xerces/elements.hxx</includes>
+    <includes local="no">xsd/cxx/post.hxx</includes>
+    <includedby refid="hello-pskel_8cxx" local="yes">work/mixpp/tests/hello-pskel.cxx</includedby>
+    <includedby refid="test__xsd__hello_8cxx" local="yes">work/mixpp/tests/test_xsd_hello.cxx</includedby>
+    <incdepgraph>
+      <node id="839">
+        <label>xsd/cxx/parser/xerces/elements.hxx</label>
+      </node>
+      <node id="837">
+        <label>xsd/cxx/parser/non-validating/xml-schema-pskel.hxx</label>
+      </node>
+      <node id="836">
+        <label>xsd/cxx/parser/non-validating/parser.hxx</label>
+      </node>
+      <node id="831">
+        <label>xsd/cxx/pre.hxx</label>
+      </node>
+      <node id="840">
+        <label>xsd/cxx/post.hxx</label>
+      </node>
+      <node id="838">
+        <label>xsd/cxx/parser/non-validating/xml-schema-pimpl.hxx</label>
+      </node>
+      <node id="834">
+        <label>xsd/cxx/parser/elements.hxx</label>
+      </node>
+      <node id="830">
+        <label>xsd/cxx/version.hxx</label>
+      </node>
+      <node id="835">
+        <label>xsd/cxx/parser/xml-schema.hxx</label>
+      </node>
+      <node id="829">
+        <label>work/mixpp/tests/hello-pskel.hxx</label>
+        <link refid="hello-pskel.hxx"/>
+        <childnode refid="830" relation="include">
+        </childnode>
+        <childnode refid="831" relation="include">
+        </childnode>
+        <childnode refid="832" relation="include">
+        </childnode>
+        <childnode refid="833" relation="include">
+        </childnode>
+        <childnode refid="834" relation="include">
+        </childnode>
+        <childnode refid="835" relation="include">
+        </childnode>
+        <childnode refid="836" relation="include">
+        </childnode>
+        <childnode refid="837" relation="include">
+        </childnode>
+        <childnode refid="838" relation="include">
+        </childnode>
+        <childnode refid="839" relation="include">
+        </childnode>
+        <childnode refid="840" relation="include">
+        </childnode>
+      </node>
+      <node id="832">
+        <label>xsd/cxx/xml/error-handler.hxx</label>
+      </node>
+      <node id="833">
+        <label>xsd/cxx/parser/exceptions.hxx</label>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classhello__pskel" prot="public">hello_pskel</innerclass>
+    <innernamespace refid="namespacexml__schema">xml_schema</innernamespace>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//<sp/>Copyright<sp/>(C)<sp/>2005-2008<sp/>Code<sp/>Synthesis<sp/>Tools<sp/>CC</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//<sp/>This<sp/>program<sp/>was<sp/>generated<sp/>by<sp/>CodeSynthesis<sp/>XSD,<sp/>an<sp/>XML<sp/>Schema<sp/>to</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>data<sp/>binding<sp/>compiler.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//<sp/>This<sp/>program<sp/>is<sp/>free<sp/>software;<sp/>you<sp/>can<sp/>redistribute<sp/>it<sp/>and/or<sp/>modify</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>it<sp/>under<sp/>the<sp/>terms<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>version<sp/>2<sp/>as</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//<sp/>published<sp/>by<sp/>the<sp/>Free<sp/>Software<sp/>Foundation.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//<sp/>This<sp/>program<sp/>is<sp/>distributed<sp/>in<sp/>the<sp/>hope<sp/>that<sp/>it<sp/>will<sp/>be<sp/>useful,</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//<sp/>but<sp/>WITHOUT<sp/>ANY<sp/>WARRANTY;<sp/>without<sp/>even<sp/>the<sp/>implied<sp/>warranty<sp/>of</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="comment">//<sp/>MERCHANTABILITY<sp/>or<sp/>FITNESS<sp/>FOR<sp/>A<sp/>PARTICULAR<sp/>PURPOSE.<sp/><sp/>See<sp/>the</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>for<sp/>more<sp/>details.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>You<sp/>should<sp/>have<sp/>received<sp/>a<sp/>copy<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="comment">//<sp/>along<sp/>with<sp/>this<sp/>program;<sp/>if<sp/>not,<sp/>write<sp/>to<sp/>the<sp/>Free<sp/>Software</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Foundation,<sp/>Inc.,<sp/>51<sp/>Franklin<sp/>St,<sp/>Fifth<sp/>Floor,<sp/>Boston,<sp/>MA<sp/>02110-1301<sp/>USA</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="comment">//<sp/>In<sp/>addition,<sp/>as<sp/>a<sp/>special<sp/>exception,<sp/>Code<sp/>Synthesis<sp/>Tools<sp/>CC<sp/>gives</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="comment">//<sp/>permission<sp/>to<sp/>link<sp/>this<sp/>program<sp/>with<sp/>the<sp/>Xerces-C++<sp/>library<sp/>(or<sp/>with</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">//<sp/>modified<sp/>versions<sp/>of<sp/>Xerces-C++<sp/>that<sp/>use<sp/>the<sp/>same<sp/>license<sp/>as<sp/>Xerces-C++),</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//<sp/>and<sp/>distribute<sp/>linked<sp/>combinations<sp/>including<sp/>the<sp/>two.<sp/>You<sp/>must<sp/>obey</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="comment">//<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>version<sp/>2<sp/>in<sp/>all<sp/>respects<sp/>for<sp/>all<sp/>of</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="comment">//<sp/>the<sp/>code<sp/>used<sp/>other<sp/>than<sp/>Xerces-C++.<sp/>If<sp/>you<sp/>modify<sp/>this<sp/>copy<sp/>of<sp/>the</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="comment">//<sp/>program,<sp/>you<sp/>may<sp/>extend<sp/>this<sp/>exception<sp/>to<sp/>your<sp/>version<sp/>of<sp/>the<sp/>program,</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">//<sp/>but<sp/>you<sp/>are<sp/>not<sp/>obligated<sp/>to<sp/>do<sp/>so.<sp/>If<sp/>you<sp/>do<sp/>not<sp/>wish<sp/>to<sp/>do<sp/>so,<sp/>delete</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>this<sp/>exception<sp/>statement<sp/>from<sp/>your<sp/>version.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Furthermore,<sp/>Code<sp/>Synthesis<sp/>Tools<sp/>CC<sp/>makes<sp/>a<sp/>special<sp/>exception<sp/>for</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="comment">//<sp/>the<sp/>Free/Libre<sp/>and<sp/>Open<sp/>Source<sp/>Software<sp/>(FLOSS)<sp/>which<sp/>is<sp/>described</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>in<sp/>the<sp/>accompanying<sp/>FLOSSE<sp/>file.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="preprocessor">#ifndef<sp/>CXX_HOME_SMIDL_WORK_MIXPP_TESTS_HELLO_PSKEL_HXX</highlight></codeline>
+<codeline lineno="35"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>CXX_HOME_SMIDL_WORK_MIXPP_TESTS_HELLO_PSKEL_HXX</highlight></codeline>
+<codeline lineno="36"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Begin<sp/>prologue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">//<sp/>End<sp/>prologue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/version.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="preprocessor">#if<sp/>(XSD_INT_VERSION<sp/>!=<sp/>3010000L)</highlight></codeline>
+<codeline lineno="45"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#error<sp/>XSD<sp/>runtime<sp/>version<sp/>mismatch</highlight></codeline>
+<codeline lineno="46"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="47"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/pre.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Forward<sp/>declarations</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">hello_pskel;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight><highlight class="preprocessor">#ifndef<sp/>XSD_USE_CHAR</highlight></codeline>
+<codeline lineno="55"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>XSD_USE_CHAR</highlight></codeline>
+<codeline lineno="56"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="57"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="preprocessor">#ifndef<sp/>XSD_CXX_PARSER_USE_CHAR</highlight></codeline>
+<codeline lineno="59"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>XSD_CXX_PARSER_USE_CHAR</highlight></codeline>
+<codeline lineno="60"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="61"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/xml/error-handler.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/parser/exceptions.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/parser/elements.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/parser/xml-schema.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/parser/non-validating/parser.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/parser/non-validating/xml-schema-pskel.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/parser/non-validating/xml-schema-pimpl.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/parser/xerces/elements.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight><highlight class="keyword">namespace<sp/></highlight><highlight class="normal">xml_schema</highlight></codeline>
+<codeline lineno="72"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Built-in<sp/>XML<sp/>Schema<sp/>types<sp/>mapping.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::string_sequence&lt;<sp/>char<sp/>&gt;<sp/>string_sequence;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::qname&lt;<sp/>char<sp/>&gt;<sp/>qname;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::buffer<sp/>buffer;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::time_zone<sp/>time_zone;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::gday<sp/>gday;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::gmonth<sp/>gmonth;</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::gyear<sp/>gyear;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::gmonth_day<sp/>gmonth_day;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::gyear_month<sp/>gyear_month;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::date<sp/>date;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::time<sp/>time;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::date_time<sp/>date_time;</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::duration<sp/>duration;</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Base<sp/>parser<sp/>skeletons.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::parser_base&lt;<sp/>char<sp/>&gt;<sp/>parser_base;</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::empty_content&lt;<sp/>char<sp/>&gt;<sp/>empty_content;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::simple_content&lt;<sp/>char<sp/>&gt;<sp/>simple_content;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::complex_content&lt;<sp/>char<sp/>&gt;<sp/>complex_content;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::list_base&lt;<sp/>char<sp/>&gt;<sp/>list_base;</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Parser<sp/>skeletons<sp/>and<sp/>implementations<sp/>for<sp/>the<sp/>XML<sp/>Schema</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>built-in<sp/>types.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::any_type_pskel&lt;<sp/>char<sp/>&gt;<sp/>any_type_pskel;</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::any_type_pimpl&lt;<sp/>char<sp/>&gt;<sp/>any_type_pimpl;</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::any_simple_type_pskel&lt;<sp/>char<sp/>&gt;<sp/>any_simple_type_pskel;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::any_simple_type_pimpl&lt;<sp/>char<sp/>&gt;<sp/>any_simple_type_pimpl;</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::byte_pskel&lt;<sp/>char<sp/>&gt;<sp/>byte_pskel;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::byte_pimpl&lt;<sp/>char<sp/>&gt;<sp/>byte_pimpl;</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_byte_pskel&lt;<sp/>char<sp/>&gt;<sp/>unsigned_byte_pskel;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_byte_pimpl&lt;<sp/>char<sp/>&gt;<sp/>unsigned_byte_pimpl;</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::short_pskel&lt;<sp/>char<sp/>&gt;<sp/>short_pskel;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::short_pimpl&lt;<sp/>char<sp/>&gt;<sp/>short_pimpl;</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_short_pskel&lt;<sp/>char<sp/>&gt;<sp/>unsigned_short_pskel;</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_short_pimpl&lt;<sp/>char<sp/>&gt;<sp/>unsigned_short_pimpl;</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::int_pskel&lt;<sp/>char<sp/>&gt;<sp/>int_pskel;</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::int_pimpl&lt;<sp/>char<sp/>&gt;<sp/>int_pimpl;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"></highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_int_pskel&lt;<sp/>char<sp/>&gt;<sp/>unsigned_int_pskel;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_int_pimpl&lt;<sp/>char<sp/>&gt;<sp/>unsigned_int_pimpl;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::long_pskel&lt;<sp/>char<sp/>&gt;<sp/>long_pskel;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::long_pimpl&lt;<sp/>char<sp/>&gt;<sp/>long_pimpl;</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_long_pskel&lt;<sp/>char<sp/>&gt;<sp/>unsigned_long_pskel;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::unsigned_long_pimpl&lt;<sp/>char<sp/>&gt;<sp/>unsigned_long_pimpl;</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::integer_pskel&lt;<sp/>char<sp/>&gt;<sp/>integer_pskel;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::integer_pimpl&lt;<sp/>char<sp/>&gt;<sp/>integer_pimpl;</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::non_positive_integer_pskel&lt;<sp/>char<sp/>&gt;<sp/>non_positive_integer_pskel;</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::non_positive_integer_pimpl&lt;<sp/>char<sp/>&gt;<sp/>non_positive_integer_pimpl;</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::non_negative_integer_pskel&lt;<sp/>char<sp/>&gt;<sp/>non_negative_integer_pskel;</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::non_negative_integer_pimpl&lt;<sp/>char<sp/>&gt;<sp/>non_negative_integer_pimpl;</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"></highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::positive_integer_pskel&lt;<sp/>char<sp/>&gt;<sp/>positive_integer_pskel;</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::positive_integer_pimpl&lt;<sp/>char<sp/>&gt;<sp/>positive_integer_pimpl;</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::negative_integer_pskel&lt;<sp/>char<sp/>&gt;<sp/>negative_integer_pskel;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::negative_integer_pimpl&lt;<sp/>char<sp/>&gt;<sp/>negative_integer_pimpl;</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::boolean_pskel&lt;<sp/>char<sp/>&gt;<sp/>boolean_pskel;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::boolean_pimpl&lt;<sp/>char<sp/>&gt;<sp/>boolean_pimpl;</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::float_pskel&lt;<sp/>char<sp/>&gt;<sp/>float_pskel;</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::float_pimpl&lt;<sp/>char<sp/>&gt;<sp/>float_pimpl;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::double_pskel&lt;<sp/>char<sp/>&gt;<sp/>double_pskel;</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::double_pimpl&lt;<sp/>char<sp/>&gt;<sp/>double_pimpl;</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::decimal_pskel&lt;<sp/>char<sp/>&gt;<sp/>decimal_pskel;</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::decimal_pimpl&lt;<sp/>char<sp/>&gt;<sp/>decimal_pimpl;</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::string_pskel&lt;<sp/>char<sp/>&gt;<sp/>string_pskel;</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::string_pimpl&lt;<sp/>char<sp/>&gt;<sp/>string_pimpl;</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::normalized_string_pskel&lt;<sp/>char<sp/>&gt;<sp/>normalized_string_pskel;</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::normalized_string_pimpl&lt;<sp/>char<sp/>&gt;<sp/>normalized_string_pimpl;</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::token_pskel&lt;<sp/>char<sp/>&gt;<sp/>token_pskel;</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::token_pimpl&lt;<sp/>char<sp/>&gt;<sp/>token_pimpl;</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::name_pskel&lt;<sp/>char<sp/>&gt;<sp/>name_pskel;</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::name_pimpl&lt;<sp/>char<sp/>&gt;<sp/>name_pimpl;</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"></highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::nmtoken_pskel&lt;<sp/>char<sp/>&gt;<sp/>nmtoken_pskel;</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::nmtoken_pimpl&lt;<sp/>char<sp/>&gt;<sp/>nmtoken_pimpl;</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::nmtokens_pskel&lt;<sp/>char<sp/>&gt;<sp/>nmtokens_pskel;</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::nmtokens_pimpl&lt;<sp/>char<sp/>&gt;<sp/>nmtokens_pimpl;</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"></highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::ncname_pskel&lt;<sp/>char<sp/>&gt;<sp/>ncname_pskel;</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::ncname_pimpl&lt;<sp/>char<sp/>&gt;<sp/>ncname_pimpl;</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::language_pskel&lt;<sp/>char<sp/>&gt;<sp/>language_pskel;</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::language_pimpl&lt;<sp/>char<sp/>&gt;<sp/>language_pimpl;</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::id_pskel&lt;<sp/>char<sp/>&gt;<sp/>id_pskel;</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::id_pimpl&lt;<sp/>char<sp/>&gt;<sp/>id_pimpl;</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::idref_pskel&lt;<sp/>char<sp/>&gt;<sp/>idref_pskel;</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::idref_pimpl&lt;<sp/>char<sp/>&gt;<sp/>idref_pimpl;</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"></highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::idrefs_pskel&lt;<sp/>char<sp/>&gt;<sp/>idrefs_pskel;</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::idrefs_pimpl&lt;<sp/>char<sp/>&gt;<sp/>idrefs_pimpl;</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"></highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::uri_pskel&lt;<sp/>char<sp/>&gt;<sp/>uri_pskel;</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::uri_pimpl&lt;<sp/>char<sp/>&gt;<sp/>uri_pimpl;</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"></highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::qname_pskel&lt;<sp/>char<sp/>&gt;<sp/>qname_pskel;</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::qname_pimpl&lt;<sp/>char<sp/>&gt;<sp/>qname_pimpl;</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"></highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::base64_binary_pskel&lt;<sp/>char<sp/>&gt;<sp/>base64_binary_pskel;</highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::base64_binary_pimpl&lt;<sp/>char<sp/>&gt;<sp/>base64_binary_pimpl;</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::hex_binary_pskel&lt;<sp/>char<sp/>&gt;<sp/>hex_binary_pskel;</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::hex_binary_pimpl&lt;<sp/>char<sp/>&gt;<sp/>hex_binary_pimpl;</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"></highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::date_pskel&lt;<sp/>char<sp/>&gt;<sp/>date_pskel;</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::date_pimpl&lt;<sp/>char<sp/>&gt;<sp/>date_pimpl;</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::date_time_pskel&lt;<sp/>char<sp/>&gt;<sp/>date_time_pskel;</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::date_time_pimpl&lt;<sp/>char<sp/>&gt;<sp/>date_time_pimpl;</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::duration_pskel&lt;<sp/>char<sp/>&gt;<sp/>duration_pskel;</highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::duration_pimpl&lt;<sp/>char<sp/>&gt;<sp/>duration_pimpl;</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"></highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gday_pskel&lt;<sp/>char<sp/>&gt;<sp/>gday_pskel;</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gday_pimpl&lt;<sp/>char<sp/>&gt;<sp/>gday_pimpl;</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"></highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gmonth_pskel&lt;<sp/>char<sp/>&gt;<sp/>gmonth_pskel;</highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gmonth_pimpl&lt;<sp/>char<sp/>&gt;<sp/>gmonth_pimpl;</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gmonth_day_pskel&lt;<sp/>char<sp/>&gt;<sp/>gmonth_day_pskel;</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gmonth_day_pimpl&lt;<sp/>char<sp/>&gt;<sp/>gmonth_day_pimpl;</highlight></codeline>
+<codeline lineno="219"><highlight class="normal"></highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gyear_pskel&lt;<sp/>char<sp/>&gt;<sp/>gyear_pskel;</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gyear_pimpl&lt;<sp/>char<sp/>&gt;<sp/>gyear_pimpl;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gyear_month_pskel&lt;<sp/>char<sp/>&gt;<sp/>gyear_month_pskel;</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::gyear_month_pimpl&lt;<sp/>char<sp/>&gt;<sp/>gyear_month_pimpl;</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"></highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::time_pskel&lt;<sp/>char<sp/>&gt;<sp/>time_pskel;</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::non_validating::time_pimpl&lt;<sp/>char<sp/>&gt;<sp/>time_pimpl;</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"></highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Exceptions.<sp/>See<sp/>libxsd/xsd/cxx/parser/exceptions.hxx<sp/>for<sp/>details.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::exception&lt;<sp/>char<sp/>&gt;<sp/>exception;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"></highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Parsing<sp/>diagnostics.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="234"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="235"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::severity<sp/>severity;</highlight></codeline>
+<codeline lineno="236"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::error&lt;<sp/>char<sp/>&gt;<sp/>error;</highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::diagnostics&lt;<sp/>char<sp/>&gt;<sp/>diagnostics;</highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::parsing&lt;<sp/>char<sp/>&gt;<sp/>parsing;</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"></highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Error<sp/>handler.<sp/>See<sp/>libxsd/xsd/cxx/xml/error-handler.hxx<sp/>for<sp/>details.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::xml::error_handler&lt;<sp/>char<sp/>&gt;<sp/>error_handler;</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"></highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Read-only<sp/>string.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::ro_string&lt;<sp/>char<sp/>&gt;<sp/>ro_string;</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Parsing<sp/>flags.<sp/>See<sp/>libxsd/xsd/cxx/parser/xerces/elements.hxx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>for<sp/>details.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="251"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::xerces::flags<sp/>flags;</highlight></codeline>
+<codeline lineno="252"><highlight class="normal"></highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Parsing<sp/>properties.<sp/>See<sp/>libxsd/xsd/cxx/parser/xerces/elements.hxx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="254"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>for<sp/>details.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::xerces::properties&lt;<sp/>char<sp/>&gt;<sp/>properties;</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"></highlight></codeline>
+<codeline lineno="258"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Document<sp/>type.<sp/>See<sp/>libxsd/xsd/cxx/parser/xerces/elements.hxx</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>for<sp/>details.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/>typedef<sp/>::xsd::cxx::parser::xerces::document&lt;<sp/>char<sp/>&gt;<sp/>document;</highlight></codeline>
+<codeline lineno="262"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="263"><highlight class="normal"></highlight></codeline>
+<codeline lineno="264"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal">hello_pskel:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>::xml_schema::complex_content</highlight></codeline>
+<codeline lineno="265"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="266"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Parser<sp/>callbacks.<sp/>Override<sp/>them<sp/>in<sp/>your<sp/>implementation.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>virtual<sp/>void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>pre<sp/>();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="271"><highlight class="normal"></highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/>greeting<sp/>(const<sp/>::std::string&amp;);</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"></highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="276"><highlight class="normal"><sp/><sp/>name<sp/>(const<sp/>::std::string&amp;);</highlight></codeline>
+<codeline lineno="277"><highlight class="normal"></highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="279"><highlight class="normal"><sp/><sp/>post_hello<sp/>();</highlight></codeline>
+<codeline lineno="280"><highlight class="normal"></highlight></codeline>
+<codeline lineno="281"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Parser<sp/>construction<sp/>API.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="283"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="284"><highlight class="normal"><sp/><sp/>greeting_parser<sp/>(::xml_schema::string_pskel&amp;);</highlight></codeline>
+<codeline lineno="285"><highlight class="normal"></highlight></codeline>
+<codeline lineno="286"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/>name_parser<sp/>(::xml_schema::string_pskel&amp;);</highlight></codeline>
+<codeline lineno="288"><highlight class="normal"></highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/>parsers<sp/>(::xml_schema::string_pskel&amp;<sp/></highlight><highlight class="comment">/*<sp/>greeting<sp/>*/</highlight><highlight class="normal">,</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>::xml_schema::string_pskel&amp;<sp/></highlight><highlight class="comment">/*<sp/>name<sp/>*/</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="292"><highlight class="normal"></highlight></codeline>
+<codeline lineno="293"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Constructor.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="294"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="295"><highlight class="normal"><sp/><sp/>hello_pskel<sp/>();</highlight></codeline>
+<codeline lineno="296"><highlight class="normal"></highlight></codeline>
+<codeline lineno="297"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Implementation.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="298"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="299"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="300"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="301"><highlight class="normal"><sp/><sp/>_start_element_impl<sp/>(const<sp/>::xml_schema::ro_string&amp;,</highlight></codeline>
+<codeline lineno="302"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>const<sp/>::xml_schema::ro_string&amp;,</highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>const<sp/>::xml_schema::ro_string*);</highlight></codeline>
+<codeline lineno="304"><highlight class="normal"></highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="306"><highlight class="normal"><sp/><sp/>_end_element_impl<sp/>(const<sp/>::xml_schema::ro_string&amp;,</highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>const<sp/>::xml_schema::ro_string&amp;);</highlight></codeline>
+<codeline lineno="308"><highlight class="normal"></highlight></codeline>
+<codeline lineno="309"><highlight class="normal"><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="310"><highlight class="normal"><sp/><sp/>::xml_schema::string_pskel*<sp/>greeting_;</highlight></codeline>
+<codeline lineno="311"><highlight class="normal"><sp/><sp/>::xml_schema::string_pskel*<sp/>name_;</highlight></codeline>
+<codeline lineno="312"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="313"><highlight class="normal"></highlight></codeline>
+<codeline lineno="314"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;xsd/cxx/post.hxx&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="315"><highlight class="normal"></highlight></codeline>
+<codeline lineno="316"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Begin<sp/>epilogue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="317"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="318"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="319"><highlight class="normal"></highlight><highlight class="comment">//<sp/>End<sp/>epilogue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="320"><highlight class="normal"></highlight></codeline>
+<codeline lineno="321"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>CXX_HOME_SMIDL_WORK_MIXPP_TESTS_HELLO_PSKEL_HXX</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/tests/hello-pskel.hxx"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_55644c48005aa82baf025d6434664d01.xml
===================================================================
--- /doc/xml/dir_55644c48005aa82baf025d6434664d01.xml (revision 187)
+++ /doc/xml/dir_55644c48005aa82baf025d6434664d01.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_55644c48005aa82baf025d6434664d01" kind="dir">
+    <compoundname>work/mixpp/pmsm/simulator_zdenek/ekf_example/data/</compoundname>
+    <innerfile refid="ekf__example_2data_2kresli__ladeni_8m">kresli_ladeni.m</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/pmsm/simulator_zdenek/ekf_example/data/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testPF_8cpp.xml
===================================================================
--- /doc/xml/testPF_8cpp.xml (revision 187)
+++ /doc/xml/testPF_8cpp.xml (revision 187)
@@ -0,0 +1,131 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testPF_8cpp" kind="file">
+    <compoundname>testPF.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="libDC_8h" local="no">math/libDC.h</includes>
+    <includes refid="libEF_8h" local="no">stat/libEF.h</includes>
+    <incdepgraph>
+      <node id="905">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="901" relation="include">
+        </childnode>
+      </node>
+      <node id="906">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="901" relation="include">
+        </childnode>
+      </node>
+      <node id="903">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="901" relation="include">
+        </childnode>
+        <childnode refid="904" relation="include">
+        </childnode>
+        <childnode refid="905" relation="include">
+        </childnode>
+        <childnode refid="906" relation="include">
+        </childnode>
+      </node>
+      <node id="902">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="901" relation="include">
+        </childnode>
+        <childnode refid="903" relation="include">
+        </childnode>
+        <childnode refid="904" relation="include">
+        </childnode>
+      </node>
+      <node id="901">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="904">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="901" relation="include">
+        </childnode>
+      </node>
+      <node id="900">
+        <label>work/git/mixpp/tests/testPF.cpp</label>
+        <link refid="testPF.cpp"/>
+        <childnode refid="901" relation="include">
+        </childnode>
+        <childnode refid="902" relation="include">
+        </childnode>
+        <childnode refid="904" relation="include">
+        </childnode>
+        <childnode refid="903" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testPF_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testPF.cpp" line="12" bodyfile="/home/smidl/work/git/mixpp/tests/testPF.cpp" bodystart="12" bodyend="42"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libDC_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">math/libDC.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">stat/libEF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>x(</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>xm=x;<sp/>xm.<ref refid="classRV_1e0a158d53ab9430627241f844f4c9a60" kindref="member" tooltip="Shift time shifted by delta.">t</ref>(-1);</highlight><highlight class="keyword">const</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>y(</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vR<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>R(vR);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp" kindref="compound" tooltip="Weighted empirical density.">eEmp</ref><sp/>emp(x,10);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni" kindref="compound" tooltip="Uniform distributed density on a rectangular support.">euni</ref><sp/>eun(x);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eun.set_parameters(</highlight><highlight class="stringliteral">&quot;0&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>emp.set_parameters(ones(10),&amp;eun);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>&amp;v=emp._w();</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;vec&gt;<sp/>&amp;S=emp._samples();</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;10;i++){<sp/>v(i)<sp/>=<sp/>exp(-0.5*sum(pow(S(i)-1,2.0))*10);}</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v/=sum(v);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;p:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>S<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;w:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ind<sp/>=<sp/>emp.resample();</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ind<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testPF.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_3f7515c2f3ce4af904da687b81ee06c5.xml
===================================================================
--- /doc/xml/dir_3f7515c2f3ce4af904da687b81ee06c5.xml (revision 187)
+++ /doc/xml/dir_3f7515c2f3ce4af904da687b81ee06c5.xml (revision 187)
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_3f7515c2f3ce4af904da687b81ee06c5" kind="dir">
+    <compoundname>work/git/mixpp/bdm/</compoundname>
+    <innerdir refid="dir_11083e42d2468e54b7397ac6b90e6cd7">work/git/mixpp/bdm/estim/</innerdir>
+    <innerdir refid="dir_ebe35f452991fa679a1796aefc299109">work/git/mixpp/bdm/math/</innerdir>
+    <innerdir refid="dir_380b4c82e2c38260cdb12c490dae990f">work/git/mixpp/bdm/stat/</innerdir>
+    <innerfile refid="itpp__ext_8cpp">itpp_ext.cpp</innerfile>
+    <innerfile refid="itpp__ext_8h">itpp_ext.h</innerfile>
+    <innerfile refid="osutils_8cpp">osutils.cpp</innerfile>
+    <innerfile refid="osutils_8h">osutils.h</innerfile>
+    <innerfile refid="userinfo_8cpp">userinfo.cpp</innerfile>
+    <innerfile refid="userinfo_8h">userinfo.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf_8h.xml
===================================================================
--- /doc/xml/ekf_8h.xml (revision 187)
+++ /doc/xml/ekf_8h.xml (revision 187)
@@ -0,0 +1,117 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf_8h" kind="file">
+    <compoundname>ekf.h</compoundname>
+    <includedby refid="ekf_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp</includedby>
+    <includedby refid="simul_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp</includedby>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="ekf_8h_1415bdef5e664918e4e4b773c36f4e103" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ladeni_EKF[10]</definition>
+        <argsstring>[10]</argsstring>
+        <name>ladeni_EKF</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.h" line="22" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.cpp" bodystart="36" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ekf_8h_1956dd7a9713816704f8ff5760e26e903" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void init_ekf</definition>
+        <argsstring>(double Tv, double *param)</argsstring>
+        <name>init_ekf</name>
+        <param>
+          <type>double</type>
+          <declname>Tv</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>param</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.h" line="18"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf_8h_1267ca49dd712a2b06af569b1e108976a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void ekf</definition>
+        <argsstring>(double *x_estimation, double Umd, double beta, double Ucnd, double Ucd, double isxd, double isyd)</argsstring>
+        <name>ekf</name>
+        <param>
+          <type>double *</type>
+          <declname>x_estimation</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Umd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>beta</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucnd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>isxd</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>isyd</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.h" line="19"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Extended<sp/>Kalman<sp/>Filter</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Kalman<sp/>Observer</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF<sp/>pocitan<sp/>s<sp/>daty<sp/>ve<sp/>formatu<sp/>Q15,<sp/>zatimco<sp/>regulace<sp/>pracuje<sp/>v<sp/>Q13<sp/>-&gt;</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>resenim<sp/>je<sp/>vynasobit<sp/>referencni<sp/>hodnoty<sp/>v<sp/>EKF<sp/>4-mi<sp/>(tim<sp/>je<sp/>automaticky</highlight></codeline>
+<codeline lineno="11"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zajisten<sp/>prechod<sp/>mezi<sp/>formaty<sp/>Q13<sp/>a<sp/>Q15).<sp/>Realizovano<sp/>konstantou<sp/>K_PREVOD_FORM.</highlight></codeline>
+<codeline lineno="12"><highlight class="comment"></highlight></codeline>
+<codeline lineno="13"><highlight class="comment">15.3.2008<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Kontrola<sp/>kodu<sp/>+<sp/>zamena<sp/>datovych<sp/>typu<sp/>q15-&gt;int<sp/>a<sp/>q30-&gt;long.</highlight></codeline>
+<codeline lineno="14"><highlight class="comment"></highlight></codeline>
+<codeline lineno="15"><highlight class="comment">*************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Declaration<sp/>of<sp/>global<sp/>functions<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Tv,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*x_estimation,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Umd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>beta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucnd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isxd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isyd);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pouze<sp/>pro<sp/>ucely<sp/>ladeni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_EKF[10];</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/matlab_2mex_2linefit2__c_8cpp.xml
===================================================================
--- /doc/xml/matlab_2mex_2linefit2__c_8cpp.xml (revision 187)
+++ /doc/xml/matlab_2mex_2linefit2__c_8cpp.xml (revision 187)
@@ -0,0 +1,156 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="matlab_2mex_2linefit2__c_8cpp" kind="file">
+    <compoundname>linefit2_c.cpp</compoundname>
+    <includes local="no">itpp/base/itfile.h</includes>
+    <includes refid="arx_8h" local="yes">estim/arx.h</includes>
+    <incdepgraph>
+      <node id="518">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="517" relation="include">
+        </childnode>
+        <childnode refid="519" relation="include">
+        </childnode>
+      </node>
+      <node id="516">
+        <label>estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="517" relation="include">
+        </childnode>
+        <childnode refid="518" relation="include">
+        </childnode>
+        <childnode refid="520" relation="include">
+        </childnode>
+      </node>
+      <node id="515">
+        <label>itpp/base/itfile.h</label>
+      </node>
+      <node id="519">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="517" relation="include">
+        </childnode>
+      </node>
+      <node id="521">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="517" relation="include">
+        </childnode>
+      </node>
+      <node id="517">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="522">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="517" relation="include">
+        </childnode>
+      </node>
+      <node id="514">
+        <label>work/mixpp/matlab/mex/linefit2_c.cpp</label>
+        <link refid="matlab/mex/linefit2_c.cpp"/>
+        <childnode refid="515" relation="include">
+        </childnode>
+        <childnode refid="516" relation="include">
+        </childnode>
+      </node>
+      <node id="520">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="517" relation="include">
+        </childnode>
+        <childnode refid="521" relation="include">
+        </childnode>
+        <childnode refid="519" relation="include">
+        </childnode>
+        <childnode refid="522" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="matlab_2mex_2linefit2__c_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/mex/linefit2_c.cpp" line="7" bodyfile="/home/smidl/work/mixpp/matlab/mex/linefit2_c.cpp" bodystart="7" bodyend="62"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/base/itfile.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="arx_8h" kindref="compound" tooltip="Bayesian Filtering for generalized autoregressive (ARX) model.">estim/arx.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>(){</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>inpf(</highlight><highlight class="stringliteral">&quot;Data.it&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&gt;&gt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;Data&quot;</highlight><highlight class="normal">)<sp/>&gt;&gt;Data;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Data.rows()&gt;2)<sp/>Data=Data.T();</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ilow<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ihi<sp/>=<sp/>40;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows()<sp/>+1;<sp/></highlight><highlight class="comment">//add<sp/>a<sp/>constant</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/>V0<sp/>(<sp/>0,0<sp/>)<sp/>=1.0;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>rgr<sp/>(<sp/>npsi<sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=3;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>fitting<sp/>a<sp/>linear<sp/>part<sp/>=&gt;<sp/>third<sp/>coef<sp/>is<sp/>&quot;1&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr<sp/>(<sp/>2<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>RESULTS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Tlls=zeros<sp/>(<sp/>ihi+1,ihi+1);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>AR<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Initialize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow+2;<sp/>i&lt;ihi-2;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector<sp/>(<sp/>0,Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>FLATTEN</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.get_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>V0<sp/>*=1.0/nu0;<sp/></highlight><highlight class="comment">//<sp/>same<sp/>flattening<sp/>factor<sp/>as<sp/>for<sp/>nu0</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>V0(0,0)*=1.2;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>nu0=3;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.set_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow;<sp/>i&lt;=ihi;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.set_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=i;<sp/>t&lt;=ihi;<sp/>t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector<sp/>(<sp/>0,Data.get_col<sp/>(<sp/>t<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Tlls<sp/>(<sp/>i,t<sp/>)<sp/>=Ar._tll();</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>max_index<sp/>(<sp/>Tlls,ilow,ihi<sp/>);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>max_index(Tlls,ilow,ihi);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;T&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>Tlls;</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;ilow&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>ilow+1;</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;ihi&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>ihi+1;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="62"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/matlab/mex/linefit2_c.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classCompoundUserInfo_1_1BindedElement.xml
===================================================================
--- /doc/xml/classCompoundUserInfo_1_1BindedElement.xml (revision 187)
+++ /doc/xml/classCompoundUserInfo_1_1BindedElement.xml (revision 187)
@@ -0,0 +1,321 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classCompoundUserInfo_1_1BindedElement" kind="class" prot="protected">
+    <compoundname>CompoundUserInfo::BindedElement</compoundname>
+    <basecompoundref refid="classBindingFrame" prot="public" virt="non-virtual">BindingFrame</basecompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+    <templateparamlist>
+      <param>
+        <type>typename</type>
+        <declname>U</declname>
+        <defname>U</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classCompoundUserInfo_1_1BindedElement_13c2e7a83c27314e2511794277a6539ed" prot="private" static="no" mutable="no">
+        <type>string</type>
+        <definition>string CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::name</definition>
+        <argsstring></argsstring>
+        <name>name</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="435" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="435" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classCompoundUserInfo_1_1BindedElement_1be6ef1e32e710805253360effd7aa624" prot="private" static="no" mutable="no">
+        <type>string</type>
+        <definition>string CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::help</definition>
+        <argsstring></argsstring>
+        <name>help</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="436" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="436" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classCompoundUserInfo_1_1BindedElement_123749052b6d19096198c87ac592a9e9d" prot="private" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::release</definition>
+        <argsstring></argsstring>
+        <name>release</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="437" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="437" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classCompoundUserInfo_1_1BindedElement_1ddbf81c9401e3a848a3154d0481d84af" prot="private" static="no" mutable="no">
+        <type>U *</type>
+        <definition>U* CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::pValue</definition>
+        <argsstring></argsstring>
+        <name>pValue</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="439" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="439" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classCompoundUserInfo_1_1BindedElement_156acf1ea9e77d06c1bfa54e665d87121" prot="private" static="no" mutable="no">
+        <type>const U</type>
+        <definition>const U CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::defaultValue</definition>
+        <argsstring></argsstring>
+        <name>defaultValue</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="441" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="441" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classCompoundUserInfo_1_1BindedElement_159b12f92976b591c04c786637b62e24a" prot="public" static="no" mutable="no">
+        <type>U</type>
+        <definition>U CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="445" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="445" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classCompoundUserInfo_1_1BindedElement_17edaf564489a009ea604205a8f2641a1" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::BindedElement</definition>
+        <argsstring>(CompoundUserInfo&lt; T &gt; *parent, string name, U defaultValue, string help)</argsstring>
+        <name>BindedElement</name>
+        <param>
+          <type><ref refid="classCompoundUserInfo" kindref="compound">CompoundUserInfo</ref>&lt; T &gt; *</type>
+          <declname>parent</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>name</declname>
+        </param>
+        <param>
+          <type>U</type>
+          <declname>defaultValue</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="449"/>
+      </memberdef>
+      <memberdef kind="function" id="classCompoundUserInfo_1_1BindedElement_1b6a90093acc730505ba6ed3d61e10e9b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::BindedElement</definition>
+        <argsstring>(CompoundUserInfo&lt; T &gt; *parent, string name, U defaultValue)</argsstring>
+        <name>BindedElement</name>
+        <param>
+          <type><ref refid="classCompoundUserInfo" kindref="compound">CompoundUserInfo</ref>&lt; T &gt; *</type>
+          <declname>parent</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>name</declname>
+        </param>
+        <param>
+          <type>U</type>
+          <declname>defaultValue</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="457"/>
+      </memberdef>
+      <memberdef kind="function" id="classCompoundUserInfo_1_1BindedElement_1dd7cb5c77c7f3eccec78a5dbcdc23364" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::~BindedElement</definition>
+        <argsstring>()</argsstring>
+        <name>~BindedElement</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="464"/>
+      </memberdef>
+      <memberdef kind="function" id="classCompoundUserInfo_1_1BindedElement_1159f56d7101091117dcdad68754bc195" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::AssemblyComponentsFromXML</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>AssemblyComponentsFromXML</name>
+        <reimplements refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d">AssemblyComponentsFromXML</reimplements>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method parse DOMElement, finds proper DOMNode and fills binded data accordingly. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="468" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="467" bodyend="471"/>
+      </memberdef>
+      <memberdef kind="function" id="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplements refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a">ReleaseMemory</reimplements>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="474" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="473" bodyend="477"/>
+      </memberdef>
+      <memberdef kind="function" id="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>bool</type>
+        <definition>bool CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>DisassemblyComponentsToXML</name>
+        <reimplements refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca">DisassemblyComponentsToXML</reimplements>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This method reads binded data, fill them into a new DOMNode, which then appends to the passed DOMElement </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="480" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="479" bodyend="482"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Templated class binding inner element with its XML tag and automating data transfers in both directions. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="781">
+        <label>CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;</label>
+        <link refid="classCompoundUserInfo_1_1BindedElement"/>
+        <childnode refid="782" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="782">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="786">
+        <label>U</label>
+      </node>
+      <node id="785">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="787">
+        <label>string</label>
+      </node>
+      <node id="783">
+        <label>CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;</label>
+        <link refid="classCompoundUserInfo_1_1BindedElement"/>
+        <childnode refid="784" relation="public-inheritance">
+        </childnode>
+        <childnode refid="786" relation="usage">
+          <edgelabel>pValue
+defaultValue
+value</edgelabel>
+        </childnode>
+        <childnode refid="787" relation="usage">
+          <edgelabel>help
+name</edgelabel>
+        </childnode>
+      </node>
+      <node id="784">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="785" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="433" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="432" bodyend="483"/>
+    <listofallmembers>
+      <member refid="classCompoundUserInfo_1_1BindedElement_1159f56d7101091117dcdad68754bc195" prot="public" virt="virtual"><scope>CompoundUserInfo::BindedElement</scope><name>AssemblyComponentsFromXML</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_17edaf564489a009ea604205a8f2641a1" prot="public" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>BindedElement</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_1b6a90093acc730505ba6ed3d61e10e9b" prot="public" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>BindedElement</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>BindingFrame</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_156acf1ea9e77d06c1bfa54e665d87121" prot="private" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>defaultValue</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" prot="public" virt="virtual"><scope>CompoundUserInfo::BindedElement</scope><name>DisassemblyComponentsToXML</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_1be6ef1e32e710805253360effd7aa624" prot="private" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>help</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_13c2e7a83c27314e2511794277a6539ed" prot="private" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>name</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_1ddbf81c9401e3a848a3154d0481d84af" prot="private" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>pValue</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_123749052b6d19096198c87ac592a9e9d" prot="private" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>release</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4" prot="public" virt="virtual"><scope>CompoundUserInfo::BindedElement</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>removeSpaces</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_159b12f92976b591c04c786637b62e24a" prot="public" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>value</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>XMLCh2str</name></member>
+      <member refid="classCompoundUserInfo_1_1BindedElement_1dd7cb5c77c7f3eccec78a5dbcdc23364" prot="public" virt="non-virtual"><scope>CompoundUserInfo::BindedElement</scope><name>~BindedElement</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_380b4c82e2c38260cdb12c490dae990f.xml
===================================================================
--- /doc/xml/dir_380b4c82e2c38260cdb12c490dae990f.xml (revision 187)
+++ /doc/xml/dir_380b4c82e2c38260cdb12c490dae990f.xml (revision 187)
@@ -0,0 +1,25 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_380b4c82e2c38260cdb12c490dae990f" kind="dir">
+    <compoundname>work/git/mixpp/bdm/stat/</compoundname>
+    <innerfile refid="emix_8cpp">emix.cpp</innerfile>
+    <innerfile refid="emix_8h">emix.h</innerfile>
+    <innerfile refid="libBM_8cpp">libBM.cpp</innerfile>
+    <innerfile refid="libBM_8h">libBM.h</innerfile>
+    <innerfile refid="libDS_8cpp">libDS.cpp</innerfile>
+    <innerfile refid="libDS_8h">libDS.h</innerfile>
+    <innerfile refid="libEF_8cpp">libEF.cpp</innerfile>
+    <innerfile refid="libEF_8h">libEF.h</innerfile>
+    <innerfile refid="libFN_8cpp">libFN.cpp</innerfile>
+    <innerfile refid="libFN_8h">libFN.h</innerfile>
+    <innerfile refid="loggers_8cpp">loggers.cpp</innerfile>
+    <innerfile refid="loggers_8h">loggers.h</innerfile>
+    <innerfile refid="merger_8cpp">merger.cpp</innerfile>
+    <innerfile refid="merger_8h">merger.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/linefit2_8cpp.xml
===================================================================
--- /doc/xml/linefit2_8cpp.xml (revision 187)
+++ /doc/xml/linefit2_8cpp.xml (revision 187)
@@ -0,0 +1,197 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="linefit2_8cpp" kind="file">
+    <compoundname>linefit2.cpp</compoundname>
+    <includes local="no">itpp/itmex.h</includes>
+    <includes refid="arx_8h" local="yes">../../bdm/estim/arx.h</includes>
+    <incdepgraph>
+      <node id="530">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="528" relation="include">
+        </childnode>
+      </node>
+      <node id="526">
+        <label>itpp/itmex.h</label>
+      </node>
+      <node id="533">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="528" relation="include">
+        </childnode>
+      </node>
+      <node id="531">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="528" relation="include">
+        </childnode>
+        <childnode refid="532" relation="include">
+        </childnode>
+        <childnode refid="530" relation="include">
+        </childnode>
+        <childnode refid="533" relation="include">
+        </childnode>
+      </node>
+      <node id="527">
+        <label>../../bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="528" relation="include">
+        </childnode>
+        <childnode refid="529" relation="include">
+        </childnode>
+        <childnode refid="531" relation="include">
+        </childnode>
+      </node>
+      <node id="529">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="528" relation="include">
+        </childnode>
+        <childnode refid="530" relation="include">
+        </childnode>
+      </node>
+      <node id="528">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="525">
+        <label>work/git/mixpp/matlab/mex/linefit2.cpp</label>
+        <link refid="linefit2.cpp"/>
+        <childnode refid="526" relation="include">
+        </childnode>
+        <childnode refid="527" relation="include">
+        </childnode>
+      </node>
+      <node id="532">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="528" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="linefit2_8cpp_182033299688d607730e08333ff7471f8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mexFunction</definition>
+        <argsstring>(int n_output, mxArray *output[], int n_input, const mxArray *input[])</argsstring>
+        <name>mexFunction</name>
+        <param>
+          <type>int</type>
+          <declname>n_output</declname>
+        </param>
+        <param>
+          <type>mxArray *</type>
+          <declname>output</declname>
+          <array>[]</array>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n_input</declname>
+        </param>
+        <param>
+          <type>const mxArray *</type>
+          <declname>input</declname>
+          <array>[]</array>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/linefit2.cpp" line="7" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/linefit2.cpp" bodystart="7" bodyend="85"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itmex.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../../bdm/estim/arx.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mexFunction<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_output,<sp/>mxArray<sp/>*output[],<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_input,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mxArray<sp/>*input[]<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Check<sp/>the<sp/>number<sp/>of<sp/>inputs<sp/>and<sp/>output<sp/>arguments</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&lt;1<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>output<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_input!=3<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>input<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>input<sp/>variables<sp/>to<sp/>IT++<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data<sp/>=<sp/>mxArray2mat<sp/>(<sp/>input[0]<sp/>);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Data.rows()<sp/>!=2<sp/>)</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Data.cols()<sp/>==2<sp/>)<sp/>Data=Data.T();<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Data<sp/>are<sp/>not<sp/>2D!&quot;</highlight><highlight class="normal"><sp/>);}</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ilow<sp/>=<sp/>mxArray2int<sp/>(<sp/>input[1]<sp/>)-1;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ihi<sp/>=<sp/>mxArray2int<sp/>(<sp/>input[2]<sp/>)-1;<sp/></highlight><highlight class="comment">//coreection<sp/>for<sp/>different<sp/>indeces</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows()<sp/>+1;<sp/></highlight><highlight class="comment">//add<sp/>a<sp/>constant</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/>V0<sp/>(<sp/>0,0<sp/>)<sp/>=1e-4;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>rgr<sp/>(<sp/>npsi<sp/>);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=0.1;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>fitting<sp/>a<sp/>linear<sp/>part<sp/>=&gt;<sp/>third<sp/>coef<sp/>is<sp/>&quot;1&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr<sp/>(<sp/>2<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>RESULTS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Tlls=zeros<sp/>(<sp/>ihi+1,ihi+1);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>AR<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Initialize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow+2;<sp/>i&lt;ihi-2;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector<sp/>(<sp/>0,Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>FLATTEN</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/><sp/>Ar.get_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>V0<sp/>*=1.0/nu0/10000.;<sp/>//<sp/>same<sp/>flattening<sp/>factor<sp/>as<sp/>for<sp/>nu0</highlight></codeline>
+<codeline lineno="44"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>nu0=1./10000.;*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.set_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow;<sp/>i&lt;=ihi;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.set_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=i;<sp/>t&lt;=ihi;<sp/>t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector<sp/>(<sp/>0,Data.get_col<sp/>(<sp/>t<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Tlls<sp/>(<sp/>i,t<sp/>)<sp/>=Ar._tll();</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>max_index<sp/>(<sp/>Tlls,ilow,ihi<sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[0]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>2,1,<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec2mxArray<sp/>(<sp/>vec_2<sp/>(<sp/>ilow+1,ihi+1<sp/>)<sp/>,<sp/>output[0]<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&gt;1<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>output<sp/>vectors</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[1]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>Tlls.rows(),Tlls.cols(),<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>the<sp/>IT++<sp/>format<sp/>to<sp/>Matlab<sp/>format<sp/>for<sp/>output</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat2mxArray<sp/>(<sp/>Tlls,<sp/>output[1]<sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&gt;2<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.set_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Redo<sp/>Ar<sp/>for<sp/>given<sp/>points</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow;<sp/>i&lt;=ihi;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector<sp/>(<sp/>0,Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>output<sp/>vectors</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[2]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>3,1,<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>the<sp/>IT++<sp/>format<sp/>to<sp/>Matlab<sp/>format<sp/>for<sp/>output</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat2mxArray<sp/>(<sp/>Ar._epdf().mean(),<sp/>output[2]<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat2mxArray<sp/>(<sp/>Ar._epdf().mean(),<sp/>output[2]<sp/>);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/mex/linefit2.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_3507d3b70a7167572b24a39439ec5939.xml
===================================================================
--- /doc/xml/dir_3507d3b70a7167572b24a39439ec5939.xml (revision 187)
+++ /doc/xml/dir_3507d3b70a7167572b24a39439ec5939.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_3507d3b70a7167572b24a39439ec5939" kind="dir">
+    <compoundname>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/</compoundname>
+    <innerfile refid="ekf__example_2data_2kresli__ladeni_8m">kresli_ladeni.m</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/data/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf__example_2regulace_8h.xml
===================================================================
--- /doc/xml/ekf__example_2regulace_8h.xml (revision 187)
+++ /doc/xml/ekf__example_2regulace_8h.xml (revision 187)
@@ -0,0 +1,135 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf__example_2regulace_8h" kind="file">
+    <compoundname>regulace.h</compoundname>
+    <includedby refid="ekf__example_2regulace_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp</includedby>
+    <includedby refid="simul_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp</includedby>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="ekf__example_2regulace_8h_173d804f0e21a12004e8412d267f85add" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double ladeni_regulace[10]</definition>
+        <argsstring>[10]</argsstring>
+        <name>ladeni_regulace</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.h" line="16" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="51" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ekf__example_2regulace_8h_1a53473deb0192802d1af2f518f5d3378" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void init_regulace</definition>
+        <argsstring>(double *param, double TV)</argsstring>
+        <name>init_regulace</name>
+        <param>
+          <type>double *</type>
+          <declname>param</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>TV</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.h" line="12"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2regulace_8h_171d09500b31dfce56234053b946cbf34" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void vektor_regulace</definition>
+        <argsstring>(double Idw, double Iqw, double Urm_max, double Ww, double *u, double Isx, double Isy, double theta, double rychlost, double Ucn_2, double Uc, double Ucn, unsigned int rezim)</argsstring>
+        <name>vektor_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Idw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Iqw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Urm_max</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isx</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>theta</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>rychlost</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn_2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rezim</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.h" line="14"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*********************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vektorove<sp/>rizeni</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>regulacni<sp/>struktura</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>13.10.2006</highlight></codeline>
+<codeline lineno="10"><highlight class="comment">**********************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//extern<sp/>void<sp/>vektor_regulace(double<sp/>Idw,<sp/>double<sp/>Iqw,<sp/>double<sp/>Urm_max,<sp/>double<sp/>Ww,<sp/>double<sp/>*u,<sp/>double<sp/>Isx,<sp/>double<sp/>Isy,<sp/>double<sp/>theta,<sp/>double<sp/>rychlost,<sp/>double<sp/>Ucn_2,<sp/>unsigned<sp/>int<sp/>rezim);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_regulace[10];</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Idw_urm,<sp/>Urmf,<sp/>Iqw_reg<sp/></highlight><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/merger__test_8cpp.xml
===================================================================
--- /doc/xml/merger__test_8cpp.xml (revision 187)
+++ /doc/xml/merger__test_8cpp.xml (revision 187)
@@ -0,0 +1,129 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="merger__test_8cpp" kind="file">
+    <compoundname>merger_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libEF_8h" local="no">stat/libEF.h</includes>
+    <includes refid="merger_8h" local="no">stat/merger.h</includes>
+    <incdepgraph>
+      <node id="842">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="839" relation="include">
+        </childnode>
+      </node>
+      <node id="844">
+        <label>stat/merger.h</label>
+        <link refid="merger_8h"/>
+        <childnode refid="839" relation="include">
+        </childnode>
+        <childnode refid="842" relation="include">
+        </childnode>
+        <childnode refid="840" relation="include">
+        </childnode>
+        <childnode refid="845" relation="include">
+        </childnode>
+      </node>
+      <node id="845">
+        <label>emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="842" relation="include">
+        </childnode>
+        <childnode refid="840" relation="include">
+        </childnode>
+      </node>
+      <node id="843">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="839" relation="include">
+        </childnode>
+      </node>
+      <node id="840">
+        <label>stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="839" relation="include">
+        </childnode>
+        <childnode refid="841" relation="include">
+        </childnode>
+        <childnode refid="842" relation="include">
+        </childnode>
+        <childnode refid="843" relation="include">
+        </childnode>
+      </node>
+      <node id="839">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="838">
+        <label>work/git/mixpp/tests/merger_test.cpp</label>
+        <link refid="merger_test.cpp"/>
+        <childnode refid="839" relation="include">
+        </childnode>
+        <childnode refid="840" relation="include">
+        </childnode>
+        <childnode refid="844" relation="include">
+        </childnode>
+      </node>
+      <node id="841">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="839" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="merger__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/merger_test.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/merger_test.cpp" bodystart="11" bodyend="32"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">stat/libEF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="merger_8h" kindref="compound" tooltip="Mergers for combination of pdfs.">stat/merger.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>x(</highlight><highlight class="stringliteral">&quot;{x<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>y(</highlight><highlight class="stringliteral">&quot;{y<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>z(</highlight><highlight class="stringliteral">&quot;{z<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmlnorm" kindref="compound" tooltip="Normal distributed linear function with linear function of mean value;.">mlnorm&lt;fsqmat&gt;</ref><sp/>fx(x,z);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmlnorm" kindref="compound" tooltip="Normal distributed linear function with linear function of mean value;.">mlnorm&lt;fsqmat&gt;</ref><sp/>fy(y,z);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fx.set_parameters(</highlight><highlight class="stringliteral">&quot;1.5&quot;</highlight><highlight class="normal">,mat(</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">));</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fy.set_parameters(</highlight><highlight class="stringliteral">&quot;1.3&quot;</highlight><highlight class="normal">,mat(</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">));</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;mpdf*<sp/>&gt;<sp/>A(2);<sp/></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A(0)=&amp;fx;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A(1)=&amp;fy;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmerger" kindref="compound" tooltip="Function for general combination of pdfs.">merger</ref><sp/>M(A);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/merger_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_19ad229042f3fa33912d5612a70e53b3.xml
===================================================================
--- /doc/xml/dir_19ad229042f3fa33912d5612a70e53b3.xml (revision 187)
+++ /doc/xml/dir_19ad229042f3fa33912d5612a70e53b3.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_19ad229042f3fa33912d5612a70e53b3" kind="dir">
+    <compoundname>work/git/mixpp/CMakeFiles/CompilerIdCXX/</compoundname>
+    <innerfile refid="CMakeCXXCompilerId_8cpp">CMakeCXXCompilerId.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/CMakeFiles/CompilerIdCXX/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/demo__example_2simulator_8h.xml
===================================================================
--- /doc/xml/demo__example_2simulator_8h.xml (revision 187)
+++ /doc/xml/demo__example_2simulator_8h.xml (revision 187)
@@ -0,0 +1,132 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="demo__example_2simulator_8h" kind="file">
+    <compoundname>simulator.h</compoundname>
+    <includedby refid="demo__example_2simulator_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.cpp</includedby>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="demo__example_2simulator_8h_1ef96d7e2af821e8829d40ed1d8b0901d" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double x[9]</definition>
+        <argsstring>[9]</argsstring>
+        <name>x</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.h" line="17" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="2" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="demo__example_2simulator_8h_16d9d7e9e326007ea4cb71e549dff4191" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double KalmanObs[4]</definition>
+        <argsstring>[4]</argsstring>
+        <name>KalmanObs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.h" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="71" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="demo__example_2simulator_8h_1665bc30f8afe61d4444510513edce99d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void set_parameters</definition>
+        <argsstring>(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>double</type>
+          <declname>Rs0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ls0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Fmag0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Bf0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>p0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kp0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>J0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>DT0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>dt0</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.h" line="14"/>
+      </memberdef>
+      <memberdef kind="function" id="demo__example_2simulator_8h_148c8ee70c3cf89476b5cf2a1a1080c21" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void eval</definition>
+        <argsstring>(double Ww)</argsstring>
+        <name>eval</name>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.h" line="15"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Simulator<sp/>of<sp/>Vector<sp/>Controlled<sp/>PMSM<sp/>Drive</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"></highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>This<sp/>module<sp/>is<sp/>background<sp/>for<sp/>PMSM<sp/>drive<sp/>object<sp/>design<sp/>and</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>introduces<sp/>basic<sp/>functions<sp/>...<sp/>set_parameters()<sp/>and<sp/>eval().</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>eval(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[9];</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>KalmanObs[4];</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/demo_example/simulator.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classBoolUI.xml
===================================================================
--- /doc/xml/classBoolUI.xml (revision 187)
+++ /doc/xml/classBoolUI.xml (revision 187)
@@ -0,0 +1,385 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classBoolUI" kind="class" prot="public">
+    <compoundname>BoolUI</compoundname>
+    <basecompoundref refid="classValuedUserInfo" prot="public" virt="non-virtual">ValuedUserInfo&lt; bool &gt;</basecompoundref>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classBoolUI_12c486c5cbcddf88ef6e9cc6b1ee21c6d" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>bool *</type>
+        <definition>bool* BoolUI::AssemblyInstance</definition>
+        <argsstring>()</argsstring>
+        <name>AssemblyInstance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="623" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="622" bodyend="629"/>
+      </memberdef>
+      <memberdef kind="function" id="classBoolUI_149ba75cdd065e9c34d6d2679c94efad2" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool BoolUI::DisassemblyInstance</definition>
+        <argsstring>(bool &amp;instance)</argsstring>
+        <name>DisassemblyInstance</name>
+        <param>
+          <type>bool &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="632" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="631" bodyend="638"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classBoolUI_10ac6c47d364f3a336365b32ae6e45153" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>BoolUI::BoolUI</definition>
+        <argsstring>()</argsstring>
+        <name>BoolUI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="644" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="642" bodyend="645"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" static="no" mutable="no">
+        <type>string</type>
+        <definition>string ValuedUserInfo&lt; bool  &gt;::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+<para>string variable which is automatically binded to a proper DOMElement attribute </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="552" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="552" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; bool &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt; bool &gt; &amp; TypedUserInfo&lt; bool &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <initializer> BoolUI()</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="731">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="729" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="732">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="731" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="727">
+        <label>ValuedUserInfo&lt; bool &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="728" relation="public-inheritance">
+        </childnode>
+        <childnode refid="732" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="728">
+        <label>TypedUserInfo&lt; bool &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="729" relation="public-inheritance">
+        </childnode>
+        <childnode refid="731" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="729">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="730" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="726">
+        <label>BoolUI</label>
+        <childnode refid="727" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="730">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="738">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="740">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="736" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="739">
+        <label>string</label>
+      </node>
+      <node id="741">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="740" relation="public-inheritance">
+        </childnode>
+        <childnode refid="739" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+      </node>
+      <node id="734">
+        <label>ValuedUserInfo&lt; bool &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="735" relation="public-inheritance">
+        </childnode>
+        <childnode refid="739" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+        <childnode refid="741" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="735">
+        <label>TypedUserInfo&lt; bool &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="736" relation="public-inheritance">
+        </childnode>
+        <childnode refid="735" relation="usage">
+          <edgelabel>instance</edgelabel>
+        </childnode>
+        <childnode refid="740" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="736">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="737" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="739" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="733">
+        <label>BoolUI</label>
+        <childnode refid="734" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="737">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="738" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="619" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="618" bodyend="646"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>BoolUI</scope><name>Assembly</name></member>
+      <member refid="classBoolUI_12c486c5cbcddf88ef6e9cc6b1ee21c6d" prot="private" virt="non-virtual"><scope>BoolUI</scope><name>AssemblyInstance</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>BindingFrame</name></member>
+      <member refid="classBoolUI_10ac6c47d364f3a336365b32ae6e45153" prot="public" virt="non-virtual"><scope>BoolUI</scope><name>BoolUI</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>BoolUI</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>BoolUI</scope><name>Disassembly</name></member>
+      <member refid="classBoolUI_149ba75cdd065e9c34d6d2679c94efad2" prot="private" virt="non-virtual"><scope>BoolUI</scope><name>DisassemblyInstance</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>instance</name></member>
+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="protected" virt="virtual"><scope>BoolUI</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>UserInfo</name></member>
+      <member refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>value</name></member>
+      <member refid="classValuedUserInfo_186897fcfe4666183bcecf16a23715cdb" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>ValuedUserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>XMLCh2str</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>~TypedUserInfo</name></member>
+      <member refid="classValuedUserInfo_14c37684500f88a6d7d8d06b73ab5267a" prot="protected" virt="non-virtual"><scope>BoolUI</scope><name>~ValuedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmepdf.xml
===================================================================
--- /doc/xml/classmepdf.xml (revision 187)
+++ /doc/xml/classmepdf.xml (revision 187)
@@ -0,0 +1,332 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmepdf" kind="class" prot="public">
+    <compoundname>mepdf</compoundname>
+    <basecompoundref refid="classmpdf" prot="public" virt="non-virtual">mpdf</basecompoundref>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmepdf_17ab1c50f0aa16230117436dee500f2e0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mepdf::mepdf</definition>
+        <argsstring>(epdf &amp;em)</argsstring>
+        <name>mepdf</name>
+        <param>
+          <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+          <declname>em</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="220" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="220" bodyend="220"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void mpdf::condition</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>condition</name>
+        <reimplementedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460">condition</reimplementedby>
+        <reimplementedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97">condition</reimplementedby>
+        <reimplementedby refid="classmmix_11a66629ec5c2b6f4740606cf737f0193">condition</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="195" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="195" bodyend="195"/>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">mpdf::_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix::mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Unconditional <ref refid="classmpdf" kindref="compound">mpdf</ref>, allows using <ref refid="classepdf" kindref="compound">epdf</ref> in the role of <ref refid="classmpdf" kindref="compound">mpdf</ref>. </para>    </briefdescription>
+    <detaileddescription>
+<para>WARNING: the class does not check validity of the <computeroutput>ep</computeroutput> pointer nor its existence. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1185">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+      <node id="1184">
+        <label>mepdf</label>
+        <link refid="classmepdf"/>
+        <childnode refid="1185" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1189">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1188" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1188">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1187">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1188" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1189" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+      <node id="1186">
+        <label>mepdf</label>
+        <link refid="classmepdf"/>
+        <childnode refid="1187" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="217" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="217" bodyend="221"/>
+    <listofallmembers>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mepdf</scope><name>_epdf</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mepdf</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mepdf</scope><name>_rvc</name></member>
+      <member refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" virt="virtual"><scope>mepdf</scope><name>condition</name></member>
+      <member refid="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" virt="non-virtual"><scope>mepdf</scope><name>ep</name></member>
+      <member refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" virt="virtual"><scope>mepdf</scope><name>evalcond</name></member>
+      <member refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" prot="public" virt="non-virtual"><scope>mepdf</scope><name>mepdf</name></member>
+      <member refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" virt="non-virtual"><scope>mepdf</scope><name>mpdf</name></member>
+      <member refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" virt="non-virtual"><scope>mepdf</scope><name>rv</name></member>
+      <member refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" virt="non-virtual"><scope>mepdf</scope><name>rvc</name></member>
+      <member refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" virt="virtual"><scope>mepdf</scope><name>samplecond</name></member>
+      <member refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" virt="virtual"><scope>mepdf</scope><name>samplecond</name></member>
+      <member refid="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" virt="virtual"><scope>mepdf</scope><name>~mpdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/matlab_2mex_2arx__c_8cpp.xml
===================================================================
--- /doc/xml/matlab_2mex_2arx__c_8cpp.xml (revision 187)
+++ /doc/xml/matlab_2mex_2arx__c_8cpp.xml (revision 187)
@@ -0,0 +1,121 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="matlab_2mex_2arx__c_8cpp" kind="file">
+    <compoundname>arx_c.cpp</compoundname>
+    <includes refid="arx_8h" local="yes">../../bdm/estim/arx.h</includes>
+    <incdepgraph>
+      <node id="477">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="476" relation="include">
+        </childnode>
+        <childnode refid="478" relation="include">
+        </childnode>
+      </node>
+      <node id="475">
+        <label>../../bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="476" relation="include">
+        </childnode>
+        <childnode refid="477" relation="include">
+        </childnode>
+        <childnode refid="479" relation="include">
+        </childnode>
+      </node>
+      <node id="478">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="476" relation="include">
+        </childnode>
+      </node>
+      <node id="474">
+        <label>work/mixpp/matlab/mex/arx_c.cpp</label>
+        <link refid="matlab/mex/arx_c.cpp"/>
+        <childnode refid="475" relation="include">
+        </childnode>
+      </node>
+      <node id="480">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="476" relation="include">
+        </childnode>
+      </node>
+      <node id="476">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="481">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="476" relation="include">
+        </childnode>
+      </node>
+      <node id="479">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="476" relation="include">
+        </childnode>
+        <childnode refid="480" relation="include">
+        </childnode>
+        <childnode refid="478" relation="include">
+        </childnode>
+        <childnode refid="481" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="matlab_2mex_2arx__c_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/mex/arx_c.cpp" line="5" bodyfile="/home/smidl/work/mixpp/matlab/mex/arx_c.cpp" bodystart="5" bodyend="33"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&quot;../../bdm/estim/arx.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>itf(</highlight><highlight class="stringliteral">&quot;DD&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>input<sp/>variables<sp/>to<sp/>IT++<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&gt;&gt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;DD&quot;</highlight><highlight class="normal">)<sp/>&gt;&gt;<sp/>Data;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows();</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/></highlight><highlight class="comment">//V0<sp/>(<sp/>0,0<sp/>)<sp/>*=1.0;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=3;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>estimate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;ndat;i++<sp/>)<sp/>{Ar.bayes<sp/>(<sp/>Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);<sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>th<sp/>=<sp/>Ar._epdf().mean();</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>th<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ll=Ar._ll();</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ll<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>str<sp/>=<sp/>Ar.structure_est<sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>(<sp/>thr,V0,nu0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>str<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/matlab/mex/arx_c.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/fsqmat__test_8cpp.xml
===================================================================
--- /doc/xml/fsqmat__test_8cpp.xml (revision 187)
+++ /doc/xml/fsqmat__test_8cpp.xml (revision 187)
@@ -0,0 +1,101 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="fsqmat__test_8cpp" kind="file">
+    <compoundname>fsqmat_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libDC_8h" local="no">math/libDC.h</includes>
+    <incdepgraph>
+      <node id="824">
+        <label>work/git/mixpp/tests/fsqmat_test.cpp</label>
+        <link refid="fsqmat_test.cpp"/>
+        <childnode refid="825" relation="include">
+        </childnode>
+        <childnode refid="826" relation="include">
+        </childnode>
+      </node>
+      <node id="825">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="826">
+        <label>math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="825" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="fsqmat__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/fsqmat_test.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/tests/fsqmat_test.cpp" bodystart="10" bodyend="52"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libDC_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">math/libDC.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A0<sp/>=<sp/>randu(3,3);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A<sp/>=<sp/>A0*A0.T();</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>constructor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>Fsq(A);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Testing<sp/>constructors:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Fsq.to_mat()<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Fsq.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>inversion</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>iFsq(3);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fsq.inv(iFsq);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;inv(A)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>inv(A)<sp/>&lt;&lt;endl</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;inv(Fsq).to_mat()<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>iFsq.to_mat()<sp/>&lt;&lt;endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>logdet</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;logdet(A)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>log(det(A))<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;logdet(Fsq)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Fsq.logdet()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>add</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>Fsq2(Fsq);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/>Fsq2.add(Fsq);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A+A<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A+A<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;Fsq2.add(Fsq)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Fsq2.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>v=randu(3);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>qform</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;vAv&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v*(A*v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;qform(Fsq,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Fsq.qform(v)<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>invqform</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;v<sp/>inv(A)v&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v*(inv(A)*v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;invqform(Fsq,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Fsq.invqform(v)<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//Test<sp/>opupdate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/>Fsq2=Fsq;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/>Fsq2.opupdt(v,1.0);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;A+vv&apos;<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>A+outer_product(v,v)<sp/>&lt;&lt;<sp/>endl</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>&lt;&lt;<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="stringliteral">&quot;opupdt(Fsq,v)<sp/>=<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Fsq2.to_mat()<sp/>&lt;&lt;<sp/>endl<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="52"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/fsqmat_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libBM_8h.xml
===================================================================
--- /doc/xml/libBM_8h.xml (revision 187)
+++ /doc/xml/libBM_8h.xml (revision 187)
@@ -0,0 +1,376 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libBM_8h" kind="file">
+    <compoundname>libBM.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includedby refid="libFN_8h" local="yes">work/git/mixpp/bdm/stat/libFN.h</includedby>
+    <includedby refid="libEF_8h" local="yes">work/git/mixpp/bdm/stat/libEF.h</includedby>
+    <includedby refid="emix_8h" local="yes">work/git/mixpp/bdm/stat/emix.h</includedby>
+    <includedby refid="libBM_8cpp" local="yes">work/git/mixpp/bdm/stat/libBM.cpp</includedby>
+    <includedby refid="libDS_8h" local="yes">work/git/mixpp/bdm/stat/libDS.h</includedby>
+    <includedby refid="loggers_8h" local="yes">work/git/mixpp/bdm/stat/loggers.h</includedby>
+    <includedby refid="merger_8h" local="yes">work/git/mixpp/bdm/stat/merger.h</includedby>
+    <includedby refid="testbidiff_8cpp" local="yes">work/git/mixpp/pmsm/testbidiff.cpp</includedby>
+    <includedby refid="rv__test_8cpp" local="yes">work/git/mixpp/tests/rv_test.cpp</includedby>
+    <includedby refid="test0_8cpp" local="yes">work/git/mixpp/tests/test0.cpp</includedby>
+    <incdepgraph>
+      <node id="355">
+        <label>work/git/mixpp/bdm/stat/libBM.h</label>
+        <link refid="libBM.h"/>
+        <childnode refid="356" relation="include">
+        </childnode>
+      </node>
+      <node id="356">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="372">
+        <label>work/git/mixpp/bdm/stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="363" relation="include">
+        </childnode>
+        <childnode refid="364" relation="include">
+        </childnode>
+        <childnode refid="360" relation="include">
+        </childnode>
+      </node>
+      <node id="357">
+        <label>work/git/mixpp/bdm/stat/libBM.h</label>
+        <link refid="libBM.h"/>
+        <childnode refid="358" relation="include">
+        </childnode>
+        <childnode refid="367" relation="include">
+        </childnode>
+        <childnode refid="369" relation="include">
+        </childnode>
+        <childnode refid="371" relation="include">
+        </childnode>
+        <childnode refid="372" relation="include">
+        </childnode>
+        <childnode refid="370" relation="include">
+        </childnode>
+      </node>
+      <node id="370">
+        <label>work/git/mixpp/bdm/stat/merger.h</label>
+        <link refid="merger_8h"/>
+      </node>
+      <node id="369">
+        <label>work/git/mixpp/bdm/stat/emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="370" relation="include">
+        </childnode>
+        <childnode refid="363" relation="include">
+        </childnode>
+      </node>
+      <node id="366">
+        <label>work/git/mixpp/pmsm/pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="363" relation="include">
+        </childnode>
+        <childnode refid="364" relation="include">
+        </childnode>
+      </node>
+      <node id="362">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="363" relation="include">
+        </childnode>
+      </node>
+      <node id="367">
+        <label>work/git/mixpp/bdm/stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="359" relation="include">
+        </childnode>
+        <childnode refid="361" relation="include">
+        </childnode>
+        <childnode refid="368" relation="include">
+        </childnode>
+        <childnode refid="369" relation="include">
+        </childnode>
+        <childnode refid="370" relation="include">
+        </childnode>
+      </node>
+      <node id="368">
+        <label>work/git/mixpp/bdm/estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="363" relation="include">
+        </childnode>
+      </node>
+      <node id="359">
+        <label>work/git/mixpp/bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="360" relation="include">
+        </childnode>
+      </node>
+      <node id="358">
+        <label>work/git/mixpp/bdm/stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="359" relation="include">
+        </childnode>
+        <childnode refid="361" relation="include">
+        </childnode>
+        <childnode refid="366" relation="include">
+        </childnode>
+        <childnode refid="363" relation="include">
+        </childnode>
+        <childnode refid="364" relation="include">
+        </childnode>
+      </node>
+      <node id="360">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim__var__arx_8cpp"/>
+      </node>
+      <node id="364">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="371">
+        <label>work/git/mixpp/bdm/stat/libDS.h</label>
+        <link refid="libDS_8h"/>
+      </node>
+      <node id="361">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="362" relation="include">
+        </childnode>
+        <childnode refid="364" relation="include">
+        </childnode>
+        <childnode refid="365" relation="include">
+        </childnode>
+      </node>
+      <node id="365">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+      <node id="363">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classstr" prot="public">str</innerclass>
+    <innerclass refid="classRV" prot="public">RV</innerclass>
+    <innerclass refid="classfnc" prot="public">fnc</innerclass>
+    <innerclass refid="classepdf" prot="public">epdf</innerclass>
+    <innerclass refid="classmpdf" prot="public">mpdf</innerclass>
+    <innerclass refid="classmepdf" prot="public">mepdf</innerclass>
+    <innerclass refid="classDS" prot="public">DS</innerclass>
+    <innerclass refid="classBM" prot="public">BM</innerclass>
+    <innerclass refid="classBMcond" prot="public">BMcond</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="libBM_8h_133c114e83980d883c5b211c47d5322a4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV concat</definition>
+        <argsstring>(const RV &amp;rv1, const RV &amp;rv2)</argsstring>
+        <name>concat</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv1</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv2</declname>
+        </param>
+        <briefdescription>
+<para>Concat two random variables. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="108" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="177" bodyend="181"/>
+        <references refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">RV::add</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Bayesian Models (bm) that use Bayes rule to learn from observations. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>BM_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>BM_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//#include<sp/>&lt;std&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22" refid="classstr" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref>{</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ids;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>times;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref>(ivec<sp/>ids0,<sp/>ivec<sp/>times0):ids(ids0),times(times0){</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug(times0.length()==ids0.length(),</highlight><highlight class="stringliteral">&quot;Incompatible<sp/>input&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37" refid="classRV" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>{</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="40" refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref>;</highlight></codeline>
+<codeline lineno="42" refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref>;</highlight></codeline>
+<codeline lineno="44" refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref>;</highlight></codeline>
+<codeline lineno="46" refid="classRV_1c878aab13f34b420e1eb5b485563682b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref>;</highlight></codeline>
+<codeline lineno="48" refid="classRV_1646e530c47a2dd38254b778d9f11ac89" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref>;</highlight></codeline>
+<codeline lineno="50" refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;std::string&gt;<sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref>;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init<sp/>(ivec<sp/>in_ids,<sp/>Array&lt;std::string&gt;<sp/>in_names,<sp/>ivec<sp/>in_sizes,<sp/>ivec<sp/>in_times<sp/>);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV</ref><sp/>(<sp/>Array&lt;std::string&gt;<sp/>in_names,<sp/>ivec<sp/>in_sizes,<sp/>ivec<sp/>in_times<sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV</ref><sp/>(<sp/>Array&lt;std::string&gt;<sp/>in_names,<sp/>ivec<sp/>in_sizes<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV</ref><sp/>(<sp/>Array&lt;std::string&gt;<sp/>in_names<sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV_16a22f5c06d6403870d4e414b1993bf9e" kindref="member" tooltip="Constructor of empty RV.">RV</ref><sp/>();</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">friend</highlight><highlight class="normal"><sp/>std::ostream<sp/>&amp;<ref refid="classRV_1cad6f15535d10437f6690cb4492176a8" kindref="member" tooltip="Printing output e.g. for debugging.">operator&lt;&lt; </ref>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv<sp/>);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="69" refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classRV_1f2396efe2e6d656ebe9e6f06018cbe25" kindref="member" tooltip="size = sum of sizes">tsize</ref>;}<sp/>;</highlight></codeline>
+<codeline lineno="71" refid="classRV_1c114a6f3ff06796cc2f4dacba74291eb" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_1c114a6f3ff06796cc2f4dacba74291eb" kindref="member" tooltip="Return length (number of entries) of the RV.">length</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classRV_10d7b36e2bbccf880c8fcf1e8cc43c1a9" kindref="member" tooltip="len = number of individual rvs">len</ref>;}<sp/>;</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//TODO<sp/>why<sp/>not<sp/>inline<sp/>and<sp/>later??</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classRV_10c493a7a897f4d75682f4264e40779a1" kindref="member" tooltip="Find indexes of self in another rv,.">findself</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classRV_182cc7fa22ce91cf461a522ad62014c65" kindref="member" tooltip="Compare if rv2 is identical to this RV.">equal</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classRV_1a85c47bd838ebbdcb6798d7843e87db2" kindref="member" tooltip="Subtract another variable from the current one.">subt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rv2<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classRV_10a9ea7bc6fad270cc54a455a9f8f387d" kindref="member" tooltip="Select only variables at indeces ind.">subselect</ref><sp/>(<sp/>ivec<sp/>ind<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classRV_165e5b820e482caff7f284d11898ef64f" kindref="member" tooltip="Select only variables at indeces ind.">operator() </ref>(<sp/>ivec<sp/>ind<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classRV_1e0a158d53ab9430627241f844f4c9a60" kindref="member" tooltip="Shift time shifted by delta.">t</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>delta<sp/>);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/><ref refid="classRV_152f3ade796814da627ff5a44d00986be" kindref="member" tooltip="generate str from rv, by expanding sizes">tostr</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" kindref="member" tooltip="generate indeces into">dataind</ref>(<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>crv)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="95" refid="classRV_1b88ef5124713c9e30fd9446846b3f044" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;std::string&gt;&amp;<sp/><ref refid="classRV_1b88ef5124713c9e30fd9446846b3f044" kindref="member" tooltip="access function">_names</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref>;};</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98" refid="classRV_14a0069bc69f5a98d7ce9ed59077f2e6c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_14a0069bc69f5a98d7ce9ed59077f2e6c" kindref="member" tooltip="access function">id</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>at<sp/>)<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classRV_11bd7165140f4b880a7f344bbb1c433f9" kindref="member" tooltip="Vector of unique IDs.">ids</ref><sp/>(<sp/>at<sp/>);};</highlight></codeline>
+<codeline lineno="100" refid="classRV_120db23a5585d64a6e24404cc8379bc28" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_120db23a5585d64a6e24404cc8379bc28" kindref="member" tooltip="access function">size</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>at<sp/>)<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classRV_1c878aab13f34b420e1eb5b485563682b" kindref="member" tooltip="Vector of sizes.">sizes</ref><sp/>(<sp/>at<sp/>);};</highlight></codeline>
+<codeline lineno="102" refid="classRV_1af068cf478864fe1a4fbfc6b4693b088" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classRV_1af068cf478864fe1a4fbfc6b4693b088" kindref="member" tooltip="access function">time</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>at<sp/>)<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classRV_1646e530c47a2dd38254b778d9f11ac89" kindref="member" tooltip="Vector of shifts from current time.">times</ref><sp/>(<sp/>at<sp/>);};</highlight></codeline>
+<codeline lineno="104" refid="classRV_13ae4dd6e368f814a02710636ac8e1721" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::string<sp/><ref refid="classRV_13ae4dd6e368f814a02710636ac8e1721" kindref="member" tooltip="access function">name</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>at<sp/>)<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classRV_1df5d0030b277a1db2f1fd5fb79152acb" kindref="member" tooltip="Array of names.">names</ref><sp/>(<sp/>at<sp/>);};</highlight></codeline>
+<codeline lineno="105"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>concat<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv1,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv2<sp/>);</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113" refid="classfnc" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classfnc" kindref="compound" tooltip="Class representing function  of variable  represented by rv.">fnc</ref><sp/>{</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="116" refid="classfnc_122d51d10a7901331167f64f80d1af8e9" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classfnc_122d51d10a7901331167f64f80d1af8e9" kindref="member" tooltip="Length of the output vector.">dimy</ref>;</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="119" refid="classfnc_18a1da32233c3006a4239cf601c413538" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfnc_18a1da32233c3006a4239cf601c413538" kindref="member" tooltip="default constructor">fnc</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dy<sp/>)<sp/>:<ref refid="classfnc_122d51d10a7901331167f64f80d1af8e9" kindref="member" tooltip="Length of the output vector.">dimy</ref><sp/>(<sp/>dy<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="121" refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>vec<sp/><ref refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c" kindref="member" tooltip="function evaluates numerical value of  at  cond ">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>vec<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126" refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" kindref="member" tooltip="access function">_dimy</ref>()</highlight><highlight class="keyword"><sp/>const</highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classfnc_122d51d10a7901331167f64f80d1af8e9" kindref="member" tooltip="Length of the output vector.">dimy</ref>;}</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129" refid="classfnc_117164c202f6feee3d708b8caab6306ab" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classfnc_117164c202f6feee3d708b8caab6306ab" kindref="member" tooltip="Destructor for future use;.">~fnc</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="130"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="135" refid="classepdf" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="138" refid="classepdf_174da992e3f5d598da8850b646b79b9d9" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="141" refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" kindref="member" tooltip="default constructor">epdf</ref>()<sp/>:<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>(<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight></codeline>
+<codeline lineno="144" refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" kindref="member" tooltip="default constructor">epdf</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0<sp/>)<sp/>:<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref><sp/>(<sp/>rv0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>virtual<sp/>vec<sp/>moment<sp/>(<sp/>const<sp/>int<sp/>order<sp/>=<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="149"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>vec<sp/><ref refid="classepdf_18019654e494bf5e458f6fb947e11b262" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref><sp/>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>mat<sp/><ref refid="classepdf_154d7dd53a641b618771cd9bee135181f" kindref="member" tooltip="Returns N samples from density .">sampleN</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>N<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="153" refid="classepdf_13ea597362e11a0040fe7c990269d072c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classepdf_13ea597362e11a0040fe7c990269d072c" kindref="member" tooltip="Compute probability of argument val.">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>exp<sp/>(<sp/>this-&gt;<ref refid="classepdf_16aef3eca74899692503769c18add1a4c" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/>val<sp/>)<sp/>);};</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classepdf_16aef3eca74899692503769c18add1a4c" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>vec<sp/><ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"></highlight></codeline>
+<codeline lineno="162" refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" kindref="member" tooltip="Destructor for future use;.">~epdf</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="164" refid="classepdf_14778ea61ef400813e47750e024e9fc2f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref>&amp;<sp/><ref refid="classepdf_14778ea61ef400813e47750e024e9fc2f" kindref="member" tooltip="access function, possibly dangerous!">_rv</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>;}</highlight></codeline>
+<codeline lineno="165"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight></codeline>
+<codeline lineno="167"><highlight class="normal"></highlight></codeline>
+<codeline lineno="169"><highlight class="comment">//TODO<sp/>Samplecond<sp/>can<sp/>be<sp/>generalized</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"></highlight></codeline>
+<codeline lineno="171" refid="classmpdf" refkind="compound"><highlight class="normal"></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="174" refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>;</highlight></codeline>
+<codeline lineno="176" refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref>;</highlight></codeline>
+<codeline lineno="178" refid="classmpdf_17aa894208a32f3487827df6d5054424c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>*<sp/><ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>;</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"></highlight></codeline>
+<codeline lineno="182"><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>virtual<sp/>fnc<sp/>moment<sp/>(<sp/>const<sp/>int<sp/>order<sp/>=<sp/>1<sp/>);</highlight></codeline>
+<codeline lineno="184" refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>vec<sp/><ref refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" kindref="member" tooltip="Returns the required moment of the epdf.">samplecond</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>&amp;ll<sp/>)<sp/>{this-&gt;<ref refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" kindref="member" tooltip="Update ep so that it represents this mpdf conditioned on rvc = cond.">condition</ref><sp/>(<sp/>cond<sp/>);</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>temp=<sp/><ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>-&gt;<ref refid="classepdf_18019654e494bf5e458f6fb947e11b262" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>();</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ll=<ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>-&gt;<ref refid="classepdf_16aef3eca74899692503769c18add1a4c" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/>temp<sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>temp;};</highlight></codeline>
+<codeline lineno="188" refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>mat<sp/><ref refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" kindref="member" tooltip="Returns the required moment of the epdf.">samplecond</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond,<sp/>vec<sp/>&amp;ll,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>N<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;<ref refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" kindref="member" tooltip="Update ep so that it represents this mpdf conditioned on rvc = cond.">condition</ref><sp/>(<sp/>cond<sp/>);</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>temp<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>(),N<sp/>);<sp/>vec<sp/>smp<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>);<sp/></highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;N;i++<sp/>)<sp/>{smp=<ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>-&gt;<ref refid="classepdf_18019654e494bf5e458f6fb947e11b262" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>()<sp/>;temp.set_col<sp/>(<sp/>i,<sp/>smp<sp/>);ll<sp/>(<sp/>i<sp/>)<sp/>=<ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>-&gt;<ref refid="classepdf_16aef3eca74899692503769c18add1a4c" kindref="member" tooltip="Compute log-probability of argument val.">evalpdflog</ref><sp/>(<sp/>smp<sp/>);}</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>temp;</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="195" refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" kindref="member" tooltip="Update ep so that it represents this mpdf conditioned on rvc = cond.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"></highlight></codeline>
+<codeline lineno="198" refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" kindref="member" tooltip="Shortcut for conditioning and evaluation of the internal epdf. In some cases, this...">evalcond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;cond<sp/>)<sp/>{this-&gt;<ref refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" kindref="member" tooltip="Update ep so that it represents this mpdf conditioned on rvc = cond.">condition</ref><sp/>(<sp/>cond<sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>-&gt;<ref refid="classepdf_13ea597362e11a0040fe7c990269d072c" kindref="member" tooltip="Compute probability of argument val.">eval</ref><sp/>(<sp/>dt<sp/>);};</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"></highlight></codeline>
+<codeline lineno="201" refid="classmpdf_16788be9f3a888796499c5293a318fcfb" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classmpdf_16788be9f3a888796499c5293a318fcfb" kindref="member" tooltip="Destructor for future use;.">~mpdf</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight></codeline>
+<codeline lineno="204" refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" kindref="member" tooltip="Default constructor.">mpdf</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvc0<sp/>)<sp/>:<ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref><sp/>(<sp/>rv0<sp/>),<ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref><sp/>(<sp/>rvc0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="206" refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" kindref="member" tooltip="access function">_rvc</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" kindref="member" tooltip="random variable in condition">rvc</ref>;}</highlight></codeline>
+<codeline lineno="208" refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" kindref="member" tooltip="access function">_rv</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>;}</highlight></codeline>
+<codeline lineno="210" refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/><ref refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" kindref="member" tooltip="access function">_epdf</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*<ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>;}</highlight></codeline>
+<codeline lineno="211"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"></highlight></codeline>
+<codeline lineno="217" refid="classmepdf" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classmepdf" kindref="compound" tooltip="Unconditional mpdf, allows using epdf in the role of mpdf.">mepdf</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>{</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="220" refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" kindref="member" tooltip="Default constructor.">mepdf</ref><sp/>(<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>&amp;em<sp/>)<sp/>:<ref refid="classmpdf" kindref="compound" tooltip="Conditional probability density, e.g. modeling some dependencies.">mpdf</ref><sp/>(<sp/>em.<ref refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" kindref="member" tooltip="access function">_rv</ref>(),<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref>()<sp/>)<sp/>{<ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref>=&amp;em;};</highlight></codeline>
+<codeline lineno="221"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"></highlight></codeline>
+<codeline lineno="230" refid="classDS" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classDS" kindref="compound" tooltip="Abstract class for discrete-time sources of data.">DS</ref><sp/>{</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="233" refid="classDS_11012025a1a3a1fdd24aa48698a3d3454" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classDS_11012025a1a3a1fdd24aa48698a3d3454" kindref="member" tooltip="Observed variables, returned by getdata().">Drv</ref>;</highlight></codeline>
+<codeline lineno="235" refid="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classDS_10a88ffaeb3c7c2cf30c69bc41a000629" kindref="member" tooltip="Action variables, accepted by write().">Urv</ref>;<sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="236"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classDS_1db2dacc9e71a36eeb9c5c2ee402eeeb1" kindref="member" tooltip="Returns full vector of observed data.">getdata</ref><sp/>(<sp/>vec<sp/>&amp;dt<sp/>);</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classDS_1db2dacc9e71a36eeb9c5c2ee402eeeb1" kindref="member" tooltip="Returns full vector of observed data.">getdata</ref><sp/>(<sp/>vec<sp/>&amp;dt,<sp/>ivec<sp/>&amp;indeces<sp/>);</highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classDS_10dfb6788b70c0d48a1f5276ed6c93039" kindref="member" tooltip="Accepts action variable and schedule it for application.">write</ref><sp/>(<sp/>vec<sp/>&amp;ut<sp/>);</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classDS_10dfb6788b70c0d48a1f5276ed6c93039" kindref="member" tooltip="Accepts action variable and schedule it for application.">write</ref><sp/>(<sp/>vec<sp/>&amp;ut,<sp/>ivec<sp/>&amp;indeces<sp/>);</highlight></codeline>
+<codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classDS_19a35ca9c9321dce2bf63bf668f785b75" kindref="member" tooltip="Method that assigns random variables to the datasource. Typically, the datasource...">linkrvs</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;drv,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;urv<sp/>);</highlight></codeline>
+<codeline lineno="251"><highlight class="normal"></highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classDS_1470ba89e8e7c3c4d830803221b4e9be6" kindref="member" tooltip="Moves from  to , i.e. perfroms the actions and reads response of the system.">step</ref>();</highlight></codeline>
+<codeline lineno="254"><highlight class="normal"></highlight></codeline>
+<codeline lineno="255"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="256"><highlight class="normal"></highlight></codeline>
+<codeline lineno="261" refid="classBM" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classBM" kindref="compound" tooltip="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</ref><sp/>{</highlight></codeline>
+<codeline lineno="262"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="264" refid="classBM_1af00f0612fabe66241dd507188cdbf88" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>;</highlight></codeline>
+<codeline lineno="266" refid="classBM_15623fef6572a08c2b53b8c87b82dc979" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref>;</highlight></codeline>
+<codeline lineno="268" refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref>;</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="270"><highlight class="normal"></highlight></codeline>
+<codeline lineno="272" refid="classBM_1605d28b426adb677c86a57ddb525132a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_1605d28b426adb677c86a57ddb525132a" kindref="member" tooltip="Default constructor.">BM</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0<sp/>)<sp/>:<ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref><sp/>(<sp/>rv0<sp/>),<sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref><sp/>(<sp/>0<sp/>),<ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref><sp/>(<sp/>true<sp/>)<sp/>{</highlight><highlight class="comment">//Fixme:<sp/>test<sp/>rv</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"></highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf" kindref="member" tooltip="Incremental Bayes rule.">bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf" kindref="member" tooltip="Incremental Bayes rule.">bayes</ref><sp/>(<sp/>mat<sp/>Dt<sp/>);</highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/><ref refid="classBM_13dc45554556926bde996a267636abe55" kindref="member" tooltip="Returns a pointer to the epdf representing posterior density on parameters. Use with...">_epdf</ref>()<sp/>=0;</highlight></codeline>
+<codeline lineno="283"><highlight class="normal"></highlight></codeline>
+<codeline lineno="285" refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" kindref="member" tooltip="Destructor for future use;.">~BM</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="287" refid="classBM_1126bd2595c48e311fc2a7ab72876092a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref>&amp;<sp/><ref refid="classBM_1126bd2595c48e311fc2a7ab72876092a" kindref="member" tooltip="access function">_rv</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>;}</highlight></codeline>
+<codeline lineno="289" refid="classBM_187f4a547d2c29180be88175e5eab9c88" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classBM_187f4a547d2c29180be88175e5eab9c88" kindref="member" tooltip="access function">_ll</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref>;}</highlight></codeline>
+<codeline lineno="290"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"></highlight></codeline>
+<codeline lineno="301" refid="classBMcond" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="302"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="304" refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/><ref refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" kindref="member" tooltip="Identificator of the conditioning variable.">rvc</ref>;</highlight></codeline>
+<codeline lineno="305"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)<sp/>=0;</highlight></codeline>
+<codeline lineno="309" refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" kindref="member" tooltip="Default constructor.">BMcond</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rv0<sp/>)<sp/>:<ref refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" kindref="member" tooltip="Identificator of the conditioning variable.">rvc</ref><sp/>(<sp/>rv0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="311" refid="classBMcond_1d40c72250cf93640f982d06de20815b2" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classBMcond_1d40c72250cf93640f982d06de20815b2" kindref="member" tooltip="Destructor for future use.">~BMcond</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="313" refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref>&amp;<sp/><ref refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" kindref="member" tooltip="access function">_rvc</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" kindref="member" tooltip="Identificator of the conditioning variable.">rvc</ref>;}</highlight></codeline>
+<codeline lineno="314"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="315"><highlight class="normal"></highlight></codeline>
+<codeline lineno="316"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>BM_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_4cc0aca9f9f2bd2d7556276841792c4a.xml
===================================================================
--- /doc/xml/dir_4cc0aca9f9f2bd2d7556276841792c4a.xml (revision 187)
+++ /doc/xml/dir_4cc0aca9f9f2bd2d7556276841792c4a.xml (revision 187)
@@ -0,0 +1,23 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_4cc0aca9f9f2bd2d7556276841792c4a" kind="dir">
+    <compoundname>work/mixpp/bdm/stat/</compoundname>
+    <innerfile refid="emix_8cpp">emix.cpp</innerfile>
+    <innerfile refid="emix_8h">emix.h</innerfile>
+    <innerfile refid="libBM_8cpp">libBM.cpp</innerfile>
+    <innerfile refid="libBM_8h">libBM.h</innerfile>
+    <innerfile refid="libDS_8cpp">libDS.cpp</innerfile>
+    <innerfile refid="libDS_8h">libDS.h</innerfile>
+    <innerfile refid="libEF_8cpp">libEF.cpp</innerfile>
+    <innerfile refid="libEF_8h">libEF.h</innerfile>
+    <innerfile refid="libFN_8cpp">libFN.cpp</innerfile>
+    <innerfile refid="libFN_8h">libFN.h</innerfile>
+    <innerfile refid="loggers_8cpp">loggers.cpp</innerfile>
+    <innerfile refid="loggers_8h">loggers.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/bdm/stat/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libPF_8cpp.xml
===================================================================
--- /doc/xml/libPF_8cpp.xml (revision 187)
+++ /doc/xml/libPF_8cpp.xml (revision 187)
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libPF_8cpp" kind="file">
+    <compoundname>libPF.cpp</compoundname>
+    <includes refid="libPF_8h" local="yes">libPF.h</includes>
+    <incdepgraph>
+      <node id="247">
+        <label>work/git/mixpp/bdm/estim/libPF.cpp</label>
+        <link refid="libPF.cpp"/>
+        <childnode refid="248" relation="include">
+        </childnode>
+      </node>
+      <node id="252">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="249" relation="include">
+        </childnode>
+      </node>
+      <node id="253">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="249" relation="include">
+        </childnode>
+      </node>
+      <node id="250">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="249" relation="include">
+        </childnode>
+        <childnode refid="251" relation="include">
+        </childnode>
+        <childnode refid="252" relation="include">
+        </childnode>
+        <childnode refid="253" relation="include">
+        </childnode>
+      </node>
+      <node id="248">
+        <label>libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="249" relation="include">
+        </childnode>
+        <childnode refid="250" relation="include">
+        </childnode>
+        <childnode refid="251" relation="include">
+        </childnode>
+      </node>
+      <node id="249">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="251">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="249" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">libPF.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7" refid="classPF_164f636bbd63bea9efd778214e6b631d3" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classPF_164f636bbd63bea9efd778214e6b631d3" kindref="member" tooltip="Incremental Bayes rule.">PF::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>lls<sp/>(<sp/><ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ind;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>mlls=-std::numeric_limits&lt;double&gt;::infinity(),<sp/>sum=0.0;</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//generate<sp/>new<sp/>samples<sp/>from<sp/>paramater<sp/>evolution<sp/>model;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>)<sp/>=<sp/><ref refid="classPF_1d92ac103f88f8c21e197e90af5695a09" kindref="member" tooltip="Parameter evolution model.">par</ref>.<ref refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" kindref="member" tooltip="Returns the required moment of the epdf.">samplecond</ref><sp/>(<sp/><ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>),<sp/>lls<sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lls<sp/>(<sp/>i<sp/>)<sp/>*=<sp/><ref refid="classPF_1dd0a687a4515333d6809147335854e77" kindref="member" tooltip="Observation model.">obs</ref>.<ref refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" kindref="member" tooltip="Shortcut for conditioning and evaluation of the internal epdf. In some cases, this...">evalcond</ref><sp/>(<sp/>dt,<ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>lls<sp/>(<sp/>i<sp/>)<sp/>&gt;mlls<sp/>)<sp/>mlls=lls<sp/>(<sp/>i<sp/>);<sp/></highlight><highlight class="comment">//find<sp/>maximum</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>compute<sp/>weights</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>i<sp/>)<sp/>*=<sp/>exp<sp/>(<sp/>lls<sp/>(<sp/>i<sp/>)<sp/>-<sp/>mlls<sp/>);<sp/></highlight><highlight class="comment">//<sp/>multiply<sp/>w<sp/>by<sp/>likelihood</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//renormalize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{sum+=<ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>i<sp/>);};</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_15c87aba508df321ff26536ced64dbb3a" kindref="member" tooltip="pointer into eEmp ">_w</ref><sp/>(<sp/>i<sp/>)<sp/>/=sum;<sp/></highlight><highlight class="comment">//?</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ind<sp/>=<sp/><ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member" tooltip="posterior density">est</ref>.<ref refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" kindref="member" tooltip="Function performs resampling, i.e. removal of low-weight samples and duplication...">resample</ref>();</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35" refid="classPF_104d38fbcc0348b558212f530d9ec183e" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classPF_104d38fbcc0348b558212f530d9ec183e" kindref="member" tooltip="Set posterior density by sampling from epdf0.">PF::set_est</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>&amp;epdf0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" kindref="member" tooltip="number of particles;">n</ref>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" kindref="member" tooltip="pointer into eEmp ">_samples</ref><sp/>(<sp/>i<sp/>)<sp/>=<sp/>epdf0.<ref refid="classepdf_18019654e494bf5e458f6fb947e11b262" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>();</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="41"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight><highlight class="comment">//MPF::MPF:{}</highlight><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classldmat.xml
===================================================================
--- /doc/xml/classldmat.xml (revision 187)
+++ /doc/xml/classldmat.xml (revision 187)
@@ -0,0 +1,844 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classldmat" kind="class" prot="public">
+    <compoundname>ldmat</compoundname>
+    <basecompoundref refid="classsqmat" prot="private" virt="non-virtual">sqmat</basecompoundref>
+    <includes refid="libDC_8h" local="no">libDC.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classldmat_14cce04824539c4a8d062d9a36d6e014e" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec ldmat::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Positive vector <formula id="22">$D$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" compoundref="libDC_8cpp" startline="104" endline="114">add</referencedby>
+        <referencedby refid="classldmat_14d6e401de9607332305c27e67972a07a" compoundref="libDC_8cpp" startline="116" endline="116">clear</referencedby>
+        <referencedby refid="classldmat_12c160cb123c1102face7a50ec566a031" compoundref="libDC_8cpp" startline="118" endline="123">inv</referencedby>
+        <referencedby refid="classldmat_1d876c5f83e02b3e809b35c9de5068f14" compoundref="libDC_8cpp" startline="171" endline="182">invqform</referencedby>
+        <referencedby refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</referencedby>
+        <referencedby refid="classldmat_1968113788422e858da23a477e98fd3a1" compoundref="libDC_8cpp" startline="32" endline="35">ldmat</referencedby>
+        <referencedby refid="classldmat_12b42750ba4962d439aa52a77ae12949b" compoundref="libDC_8cpp" startline="148" endline="154">logdet</referencedby>
+        <referencedby refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" compoundref="libDC_8cpp" startline="125" endline="128">mult_sym</referencedby>
+        <referencedby refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" compoundref="libDC_8cpp" startline="130" endline="133">mult_sym_t</referencedby>
+        <referencedby refid="classldmat_1875b7e6dcf73ae7001329099019fdb1d" compoundref="libDC_8cpp" startline="184" endline="187">operator*=</referencedby>
+        <referencedby refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">opupdt</referencedby>
+        <referencedby refid="classldmat_1d64f331b781903e913cb2ee836886f3f" compoundref="libDC_8cpp" startline="156" endline="169">qform</referencedby>
+        <referencedby refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" compoundref="libDC_8cpp" startline="189" endline="201">sqrt_mult</referencedby>
+        <referencedby refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" compoundref="libDC_8cpp" startline="80" endline="101">to_mat</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat ldmat::L</definition>
+        <argsstring></argsstring>
+        <name>L</name>
+        <briefdescription>
+<para>Lower-triangular matrix <formula id="21">$L$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" compoundref="libDC_8cpp" startline="104" endline="114">add</referencedby>
+        <referencedby refid="classldmat_14d6e401de9607332305c27e67972a07a" compoundref="libDC_8cpp" startline="116" endline="116">clear</referencedby>
+        <referencedby refid="classldmat_12c160cb123c1102face7a50ec566a031" compoundref="libDC_8cpp" startline="118" endline="123">inv</referencedby>
+        <referencedby refid="classldmat_1d876c5f83e02b3e809b35c9de5068f14" compoundref="libDC_8cpp" startline="171" endline="182">invqform</referencedby>
+        <referencedby refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</referencedby>
+        <referencedby refid="classldmat_1968113788422e858da23a477e98fd3a1" compoundref="libDC_8cpp" startline="32" endline="35">ldmat</referencedby>
+        <referencedby refid="libDC_8h_16715d039e6d5d97005cf9e2522dfa474" compoundref="libDC_8cpp" startline="301" endline="320">ltuinv</referencedby>
+        <referencedby refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" compoundref="libDC_8cpp" startline="125" endline="128">mult_sym</referencedby>
+        <referencedby refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" compoundref="libDC_8cpp" startline="130" endline="133">mult_sym_t</referencedby>
+        <referencedby refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">opupdt</referencedby>
+        <referencedby refid="classldmat_1d64f331b781903e913cb2ee836886f3f" compoundref="libDC_8cpp" startline="156" endline="169">qform</referencedby>
+        <referencedby refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" compoundref="libDC_8cpp" startline="189" endline="201">sqrt_mult</referencedby>
+        <referencedby refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" compoundref="libDC_8cpp" startline="80" endline="101">to_mat</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classldmat_1968113788422e858da23a477e98fd3a1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>ldmat::ldmat</definition>
+        <argsstring>(const mat &amp;L, const vec &amp;D)</argsstring>
+        <name>ldmat</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>L</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>D</declname>
+        </param>
+        <briefdescription>
+<para>Construct by copy of L and D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="32" bodyend="35"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_15f21785358072d36892d538eed1d1ea5" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>ldmat::ldmat</definition>
+        <argsstring>(const mat &amp;V)</argsstring>
+        <name>ldmat</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>V</declname>
+        </param>
+        <briefdescription>
+<para>Construct by decomposition of full matrix V. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="186" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="46" bodyend="56"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1abe16e0f86668ef61a9a4896c8565dee" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>ldmat::ldmat</definition>
+        <argsstring>(vec D0)</argsstring>
+        <name>ldmat</name>
+        <param>
+          <type>vec</type>
+          <declname>D0</declname>
+        </param>
+        <briefdescription>
+<para>Construct diagonal matrix with diagonal D0. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="41" bodyend="44"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1a12dda6f529580b0377cc45226b43303" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>ldmat::ldmat</definition>
+        <argsstring>()</argsstring>
+        <name>ldmat</name>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="190" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="37" bodyend="37"/>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1163ee002a7858d104da1c59dd11f016d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>ldmat::ldmat</definition>
+        <argsstring>(const int dim0)</argsstring>
+        <name>ldmat</name>
+        <param>
+          <type>const int</type>
+          <declname>dim0</declname>
+        </param>
+        <briefdescription>
+<para>Default initialization with proper size. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="192" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="39" bodyend="39"/>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_11e2734c0164ce5233c4d709679555138" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual ldmat::~ldmat</definition>
+        <argsstring>()</argsstring>
+        <name>~ldmat</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="195" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="195" bodyend="195"/>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void ldmat::opupdt</definition>
+        <argsstring>(const vec &amp;v, double w)</argsstring>
+        <name>opupdt</name>
+        <reimplements refid="classsqmat_1b223484796661f2dadb5607a86ce0581">opupdt</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>w</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>Perfroms a rank-1 update by outer product of vectors: <formula id="23">$V = V + w v v&apos;$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>v</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>Vector forming the outer product to be added </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>w</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>weight of updating; can be negative</para></parameterdescription>
+</parameteritem>
+</parameterlist>
+BLAS-2b operation. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="199" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="58" bodyend="72"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <referencedby refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" compoundref="libDC_8cpp" startline="104" endline="114">add</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat ldmat::to_mat</definition>
+        <argsstring>()</argsstring>
+        <name>to_mat</name>
+        <reimplements refid="classsqmat_19a5b6fddfeb42339e1dc9b978a2590fc">to_mat</reimplements>
+        <briefdescription>
+<para>Conversion to full matrix. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="200" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="80" bodyend="101"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <referencedby refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" compoundref="arx_8h" startline="56" endline="56">ARX::get_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1e967b9425007f0cb6cd59b845f9756d8" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void ldmat::mult_sym</definition>
+        <argsstring>(const mat &amp;C)</argsstring>
+        <name>mult_sym</name>
+        <reimplements refid="classsqmat_160fbbfa9e483b8187c135f787ee53afa">mult_sym</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE matrix <formula id="24">$C$</formula>, i.e. <formula id="25">$V = C*V*C&apos;$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="201" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="125" bodyend="128"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <references refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void ldmat::mult_sym_t</definition>
+        <argsstring>(const mat &amp;C)</argsstring>
+        <name>mult_sym_t</name>
+        <reimplements refid="classsqmat_16909e906da17725b1b80f3cae7cf3325">mult_sym_t</reimplements>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+<para>Inplace symmetric multiplication by a SQUARE transpose of matrix <formula id="24">$C$</formula>, i.e. <formula id="26">$V = C&apos;*V*C$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>multiplying matrix, </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="202" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="130" bodyend="133"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <references refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void ldmat::add</definition>
+        <argsstring>(const ldmat &amp;ld2, double w=1.0)</argsstring>
+        <name>add</name>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>ld2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>w</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>Add another matrix in LD form with weight w. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="204" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="104" bodyend="114"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <references refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">opupdt</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_12b42750ba4962d439aa52a77ae12949b" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double ldmat::logdet</definition>
+        <argsstring>() const </argsstring>
+        <name>logdet</name>
+        <reimplements refid="classsqmat_10a772b396750eeeed85d69fa72478b45">logdet</reimplements>
+        <briefdescription>
+<para>Logarithm of a determinant. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="205" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="148" bodyend="154"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <referencedby refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">egiw::lognc</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1d64f331b781903e913cb2ee836886f3f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double ldmat::qform</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>qform</name>
+        <reimplements refid="classsqmat_1fc026312eb02ba09f85d5aacd6f05ab3">qform</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="29">$x= v&apos;*V*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="156" bodyend="169"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1d876c5f83e02b3e809b35c9de5068f14" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double ldmat::invqform</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>invqform</name>
+        <reimplements refid="classsqmat_16230e8e8a9341866aaa0ce008691aac2">invqform</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates quadratic form <formula id="30">$x= v&apos;*inv(V)*v$</formula>;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="207" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="171" bodyend="182"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_14d6e401de9607332305c27e67972a07a" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void ldmat::clear</definition>
+        <argsstring>()</argsstring>
+        <name>clear</name>
+        <reimplements refid="classsqmat_16fca246f9eabbdeb8cac03030e826b5e">clear</reimplements>
+        <briefdescription>
+<para>Clearing matrix so that it corresponds to zeros. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="209" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="116" bodyend="116"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <referencedby refid="classldmat_12c160cb123c1102face7a50ec566a031" compoundref="libDC_8cpp" startline="118" endline="123">inv</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int ldmat::cols</definition>
+        <argsstring>() const </argsstring>
+        <name>cols</name>
+        <reimplements refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b">cols</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="277" bodyend="277"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int ldmat::rows</definition>
+        <argsstring>() const </argsstring>
+        <name>rows</name>
+        <reimplements refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646">rows</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="211" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="279" bodyend="279"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <referencedby refid="classegiw_1c52a2173c6eb1490edce9c6c7c05d60b" compoundref="libEF_8h" startline="125" endline="127">egiw::egiw</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1fc380626ced6f9244fb58c5f0231174d" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>vec</type>
+        <definition>vec ldmat::sqrt_mult</definition>
+        <argsstring>(const vec &amp;v) const </argsstring>
+        <name>sqrt_mult</name>
+        <reimplements refid="classsqmat_16b79438b5d7544a9c8e110a145355d8f">sqrt_mult</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>Multiplies square root of <formula id="27">$V$</formula> by vector <formula id="28">$x$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Used e.g. in generating normal samples. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="212" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="189" bodyend="201"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_12c160cb123c1102face7a50ec566a031" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void ldmat::inv</definition>
+        <argsstring>(ldmat &amp;Inv) const </argsstring>
+        <name>inv</name>
+        <param>
+          <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>Inv</declname>
+        </param>
+        <briefdescription>
+<para>Matrix inversion preserving the chosen form. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>Inv</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a space where the inverse is stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="217" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="118" bodyend="123"/>
+        <references refid="classldmat_14d6e401de9607332305c27e67972a07a" compoundref="libDC_8cpp" startline="116" endline="116">clear</references>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <references refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1e7207748909325bb0f99b43f090a2b7e" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void ldmat::mult_sym</definition>
+        <argsstring>(const mat &amp;C, ldmat &amp;U) const </argsstring>
+        <name>mult_sym</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <param>
+          <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>U</declname>
+        </param>
+        <briefdescription>
+<para>Symmetric multiplication of <formula id="31">$U$</formula> by a general matrix <formula id="24">$C$</formula>, result of which is stored in the current class. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>matrix to multiply with </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>U</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a space where the inverse is stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="223" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="135" bodyend="138"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <references refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1f94dc3a233f3d40fc853d8d4ac3b8eab" prot="public" static="no" const="yes" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void ldmat::mult_sym_t</definition>
+        <argsstring>(const mat &amp;C, ldmat &amp;U) const </argsstring>
+        <name>mult_sym_t</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C</declname>
+        </param>
+        <param>
+          <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>U</declname>
+        </param>
+        <briefdescription>
+<para>Symmetric multiplication of <formula id="31">$U$</formula> by a transpose of a general matrix <formula id="24">$C$</formula>, result of which is stored in the current class. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>C</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>matrix to multiply with </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>U</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a space where the inverse is stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="229" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="140" bodyend="145"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <references refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</references>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void ldmat::ldform</definition>
+        <argsstring>(const mat &amp;A, const vec &amp;D0)</argsstring>
+        <name>ldform</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <briefdescription>
+<para>Transforms general <formula id="32">$A&apos;D0 A$</formula> into pure <formula id="33">$L&apos;DL$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+<para>The new decomposition fullfills: <formula id="34">$A&apos;*diag(D)*A = self.L&apos;*diag(self.D)*self.L$</formula> <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>general matrix </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>D0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>general vector </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="238" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="203" bodyend="297"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">L</references>
+        <referencedby refid="classldmat_12c160cb123c1102face7a50ec566a031" compoundref="libDC_8cpp" startline="118" endline="123">inv</referencedby>
+        <referencedby refid="classldmat_15f21785358072d36892d538eed1d1ea5" compoundref="libDC_8cpp" startline="46" endline="56">ldmat</referencedby>
+        <referencedby refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" compoundref="libDC_8cpp" startline="125" endline="128">mult_sym</referencedby>
+        <referencedby refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" compoundref="libDC_8cpp" startline="130" endline="133">mult_sym_t</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_10884a613b94fde61bfc84288e73ce57f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void ldmat::setD</definition>
+        <argsstring>(const vec &amp;nD)</argsstring>
+        <name>setD</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>nD</declname>
+        </param>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="241" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="241" bodyend="241"/>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_17619922b4de18830ce5351c6b5667e60" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void ldmat::setD</definition>
+        <argsstring>(const vec &amp;nD, int i)</argsstring>
+        <name>setD</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>nD</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>i</declname>
+        </param>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="243" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="243" bodyend="243"/>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_132ff66296627ff5341d7c0b973249614" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void ldmat::setL</definition>
+        <argsstring>(const vec &amp;nL)</argsstring>
+        <name>setL</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>nL</declname>
+        </param>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="245" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="245" bodyend="245"/>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1282c879f50aa9ef934e7f46d86881582" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const vec &amp;</type>
+        <definition>const vec&amp; ldmat::_D</definition>
+        <argsstring>() const </argsstring>
+        <name>_D</name>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="248" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="248" bodyend="248"/>
+        <referencedby refid="classegiw_170eb1a0b88459b227f919b425b0d3359" compoundref="libEF_8cpp" startline="31" endline="38">egiw::lognc</referencedby>
+        <referencedby refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" compoundref="libEF_8cpp" startline="40" endline="53">egiw::mean</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_15f44f100248c6627314afaa653b9e5bd" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const mat &amp;</type>
+        <definition>const mat&amp; ldmat::_L</definition>
+        <argsstring>() const </argsstring>
+        <name>_L</name>
+        <briefdescription>
+<para>Access functions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="250" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="250" bodyend="250"/>
+        <referencedby refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" compoundref="libEF_8cpp" startline="40" endline="53">egiw::mean</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1ca445ee152a56043af946ea095b2d8f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat &amp; ldmat::operator+=</definition>
+        <argsstring>(const ldmat &amp;ldA)</argsstring>
+        <name>operator+=</name>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>ldA</declname>
+        </param>
+        <briefdescription>
+<para>add another <ref refid="classldmat" kindref="compound">ldmat</ref> matrix </para>        </briefdescription>
+        <detaileddescription>
+<para>Operations: mapping of add operation to operators </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="253" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="273" bodyend="273"/>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1e3f4d2d85ab1ba384c852329aa31d0fb" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat &amp; ldmat::operator-=</definition>
+        <argsstring>(const ldmat &amp;ldA)</argsstring>
+        <name>operator-=</name>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>ldA</declname>
+        </param>
+        <briefdescription>
+<para>subtract another <ref refid="classldmat" kindref="compound">ldmat</ref> matrix </para>        </briefdescription>
+        <detaileddescription>
+<para>mapping of negative add operation to operators </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="255" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="275" bodyend="275"/>
+      </memberdef>
+      <memberdef kind="function" id="classldmat_1875b7e6dcf73ae7001329099019fdb1d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat &amp; ldmat::operator*=</definition>
+        <argsstring>(double x)</argsstring>
+        <name>operator*=</name>
+        <param>
+          <type>double</type>
+          <declname>x</declname>
+        </param>
+        <briefdescription>
+<para>multiply by a scalar </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="257" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="184" bodyend="187"/>
+        <references refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" compoundref="libDC_8h" startline="264">D</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="friend">
+      <memberdef kind="friend" id="classldmat_1eaaa0baa6026b84cfcbced41c84599d1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>friend std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const ldmat &amp;sq)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>sq</declname>
+        </param>
+        <briefdescription>
+<para>print both <computeroutput>L</computeroutput> and <computeroutput>D</computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="260" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="74" bodyend="78"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classsqmat_10abed904bdc0882373ba9adba919689d" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int sqmat::dim</definition>
+        <argsstring></argsstring>
+        <name>dim</name>
+        <briefdescription>
+<para>dimension of the square matrix </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" compoundref="libDC_8cpp" startline="104" endline="114">add</referencedby>
+        <referencedby refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" compoundref="libDC_8h" startline="277" endline="277">cols</referencedby>
+        <referencedby refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" compoundref="libDC_8h" startline="91" endline="91">sqmat::cols</referencedby>
+        <referencedby refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" compoundref="libDC_8cpp" startline="203" endline="297">ldform</referencedby>
+        <referencedby refid="classldmat_1abe16e0f86668ef61a9a4896c8565dee" compoundref="libDC_8cpp" startline="41" endline="44">ldmat</referencedby>
+        <referencedby refid="libDC_8h_16715d039e6d5d97005cf9e2522dfa474" compoundref="libDC_8cpp" startline="301" endline="320">ltuinv</referencedby>
+        <referencedby refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" compoundref="libDC_8cpp" startline="58" endline="72">opupdt</referencedby>
+        <referencedby refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" compoundref="libDC_8h" startline="279" endline="279">rows</referencedby>
+        <referencedby refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" compoundref="libDC_8h" startline="94" endline="94">sqmat::rows</referencedby>
+        <referencedby refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" compoundref="libDC_8cpp" startline="189" endline="201">sqrt_mult</referencedby>
+        <referencedby refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" compoundref="libDC_8cpp" startline="80" endline="101">to_mat</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Matrix stored in LD form, (typically known as UD). </para>    </briefdescription>
+    <detaileddescription>
+<para>Matrix is decomposed as follows: <formula id="5">\[M = L&apos;DL\]</formula> where only <formula id="21">$L$</formula> and <formula id="22">$D$</formula> matrices are stored. All inplace operations modifies only these and the need to compose and decompose the matrix is avoided. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1152">
+        <label>ldmat</label>
+        <link refid="classldmat"/>
+        <childnode refid="1153" relation="private-inheritance">
+        </childnode>
+      </node>
+      <node id="1153">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1154">
+        <label>ldmat</label>
+        <link refid="classldmat"/>
+        <childnode refid="1155" relation="private-inheritance">
+        </childnode>
+      </node>
+      <node id="1155">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="180" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.h" bodystart="179" bodyend="268"/>
+    <listofallmembers>
+      <member refid="classldmat_1282c879f50aa9ef934e7f46d86881582" prot="public" virt="non-virtual"><scope>ldmat</scope><name>_D</name></member>
+      <member refid="classldmat_15f44f100248c6627314afaa653b9e5bd" prot="public" virt="non-virtual"><scope>ldmat</scope><name>_L</name></member>
+      <member refid="classldmat_1a60f2c7e4f3c6a7738eaaaab81ffad20" prot="public" virt="non-virtual"><scope>ldmat</scope><name>add</name></member>
+      <member refid="classldmat_14d6e401de9607332305c27e67972a07a" prot="public" virt="virtual"><scope>ldmat</scope><name>clear</name></member>
+      <member refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" prot="public" virt="non-virtual"><scope>ldmat</scope><name>cols</name></member>
+      <member refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" prot="protected" virt="non-virtual"><scope>ldmat</scope><name>D</name></member>
+      <member refid="classsqmat_10abed904bdc0882373ba9adba919689d" prot="private" virt="non-virtual"><scope>ldmat</scope><name>dim</name></member>
+      <member refid="classldmat_12c160cb123c1102face7a50ec566a031" prot="public" virt="virtual"><scope>ldmat</scope><name>inv</name></member>
+      <member refid="classldmat_1d876c5f83e02b3e809b35c9de5068f14" prot="public" virt="virtual"><scope>ldmat</scope><name>invqform</name></member>
+      <member refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" prot="protected" virt="non-virtual"><scope>ldmat</scope><name>L</name></member>
+      <member refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" prot="public" virt="non-virtual"><scope>ldmat</scope><name>ldform</name></member>
+      <member refid="classldmat_1968113788422e858da23a477e98fd3a1" prot="public" virt="non-virtual"><scope>ldmat</scope><name>ldmat</name></member>
+      <member refid="classldmat_15f21785358072d36892d538eed1d1ea5" prot="public" virt="non-virtual"><scope>ldmat</scope><name>ldmat</name></member>
+      <member refid="classldmat_1abe16e0f86668ef61a9a4896c8565dee" prot="public" virt="non-virtual"><scope>ldmat</scope><name>ldmat</name></member>
+      <member refid="classldmat_1a12dda6f529580b0377cc45226b43303" prot="public" virt="non-virtual"><scope>ldmat</scope><name>ldmat</name></member>
+      <member refid="classldmat_1163ee002a7858d104da1c59dd11f016d" prot="public" virt="non-virtual"><scope>ldmat</scope><name>ldmat</name></member>
+      <member refid="classldmat_12b42750ba4962d439aa52a77ae12949b" prot="public" virt="virtual"><scope>ldmat</scope><name>logdet</name></member>
+      <member refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" prot="public" virt="virtual"><scope>ldmat</scope><name>mult_sym</name></member>
+      <member refid="classldmat_1e7207748909325bb0f99b43f090a2b7e" prot="public" virt="non-virtual"><scope>ldmat</scope><name>mult_sym</name></member>
+      <member refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" prot="public" virt="virtual"><scope>ldmat</scope><name>mult_sym_t</name></member>
+      <member refid="classldmat_1f94dc3a233f3d40fc853d8d4ac3b8eab" prot="public" virt="non-virtual"><scope>ldmat</scope><name>mult_sym_t</name></member>
+      <member refid="classldmat_1875b7e6dcf73ae7001329099019fdb1d" prot="public" virt="non-virtual"><scope>ldmat</scope><name>operator*=</name></member>
+      <member refid="classldmat_1ca445ee152a56043af946ea095b2d8f8" prot="public" virt="non-virtual"><scope>ldmat</scope><name>operator+=</name></member>
+      <member refid="classldmat_1e3f4d2d85ab1ba384c852329aa31d0fb" prot="public" virt="non-virtual"><scope>ldmat</scope><name>operator-=</name></member>
+      <member refid="classldmat_1eaaa0baa6026b84cfcbced41c84599d1" prot="public" virt="non-virtual"><scope>ldmat</scope><name>operator&lt;&lt;</name></member>
+      <member refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" prot="public" virt="virtual"><scope>ldmat</scope><name>opupdt</name></member>
+      <member refid="classldmat_1d64f331b781903e913cb2ee836886f3f" prot="public" virt="virtual"><scope>ldmat</scope><name>qform</name></member>
+      <member refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" prot="public" virt="non-virtual"><scope>ldmat</scope><name>rows</name></member>
+      <member refid="classldmat_10884a613b94fde61bfc84288e73ce57f" prot="public" virt="non-virtual"><scope>ldmat</scope><name>setD</name></member>
+      <member refid="classldmat_17619922b4de18830ce5351c6b5667e60" prot="public" virt="non-virtual"><scope>ldmat</scope><name>setD</name></member>
+      <member refid="classldmat_132ff66296627ff5341d7c0b973249614" prot="public" virt="non-virtual"><scope>ldmat</scope><name>setL</name></member>
+      <member refid="classsqmat_14268750c040c716b2c05037f725078a2" prot="private" virt="non-virtual"><scope>ldmat</scope><name>sqmat</name></member>
+      <member refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" prot="public" virt="virtual"><scope>ldmat</scope><name>sqrt_mult</name></member>
+      <member refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" prot="public" virt="virtual"><scope>ldmat</scope><name>to_mat</name></member>
+      <member refid="classldmat_11e2734c0164ce5233c4d709679555138" prot="public" virt="virtual"><scope>ldmat</scope><name>~ldmat</name></member>
+      <member refid="classsqmat_10481f2067bb32aaea7e6d4f27e46b656" prot="private" virt="virtual"><scope>ldmat</scope><name>~sqmat</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_236634e9130b7b367a49b1abb351738e.xml
===================================================================
--- /doc/xml/dir_236634e9130b7b367a49b1abb351738e.xml (revision 187)
+++ /doc/xml/dir_236634e9130b7b367a49b1abb351738e.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_236634e9130b7b367a49b1abb351738e" kind="dir">
+    <compoundname>work/mixpp/CMakeFiles/CompilerIdCXX/</compoundname>
+    <innerfile refid="CMakeCXXCompilerId_8cpp">CMakeCXXCompilerId.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/CMakeFiles/CompilerIdCXX/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classUserInfoCore.xml
===================================================================
--- /doc/xml/classUserInfoCore.xml (revision 187)
+++ /doc/xml/classUserInfoCore.xml (revision 187)
@@ -0,0 +1,103 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classUserInfoCore" kind="class" prot="public">
+    <compoundname>UserInfoCore</compoundname>
+    <derivedcompoundref refid="classUserInfo" prot="public" virt="non-virtual">UserInfo&lt; T &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classUserInfo" prot="public" virt="non-virtual">UserInfo&lt; Car &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classUserInfo" prot="public" virt="non-virtual">UserInfo&lt; Engine &gt;</derivedcompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classUserInfoCore_1a09a9b965ca04a186143787c0d049a7f" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void UserInfoCore::ParseElement</definition>
+        <argsstring>(DOMElement *element)=0</argsstring>
+        <name>ParseElement</name>
+        <reimplementedby refid="classUserInfo_1f673ea7ee23cc87e89d1530f94817800">ParseElement</reimplementedby>
+        <reimplementedby refid="classUserInfo_1f673ea7ee23cc87e89d1530f94817800">ParseElement</reimplementedby>
+        <reimplementedby refid="classUserInfo_1f673ea7ee23cc87e89d1530f94817800">ParseElement</reimplementedby>
+        <param>
+          <type>DOMElement *</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>Fills internal attributes and descendant elements according DOMElement. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="143"/>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfoCore_1282c9bfd140bd09777aff395158c35ab" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void UserInfoCore::FillElement</definition>
+        <argsstring>(DOMElement &amp;element)=0</argsstring>
+        <name>FillElement</name>
+        <reimplementedby refid="classUserInfo_122ca1ef5a10740e4107cd5a7e9a72856">FillElement</reimplementedby>
+        <reimplementedby refid="classUserInfo_122ca1ef5a10740e4107cd5a7e9a72856">FillElement</reimplementedby>
+        <reimplementedby refid="classUserInfo_122ca1ef5a10740e4107cd5a7e9a72856">FillElement</reimplementedby>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>Fills DOMElement according internal attributes and descendant elements. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="146"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para><ref refid="classUserInfoCore" kindref="compound">UserInfoCore</ref> class is for internal purposes only. Use UserInfo&lt;T&gt; instead. </para>    </briefdescription>
+    <detaileddescription>
+<para>The raison d&apos;etre of this class is to allow pointers to (the main part of) UserInfo&lt;T&gt; objects even for different generic types. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1139">
+        <label>UserInfoCore</label>
+        <link refid="classUserInfoCore"/>
+      </node>
+      <node id="1144">
+        <label>EngineUI</label>
+        <link refid="classEngineUI"/>
+        <childnode refid="1143" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1141">
+        <label>UserInfo&lt; Car &gt;</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1140" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1139" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1140">
+        <label>UserInfo&lt; T &gt;</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1139" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1142">
+        <label>CarUI</label>
+        <link refid="classCarUI"/>
+        <childnode refid="1141" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1143">
+        <label>UserInfo&lt; Engine &gt;</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1140" relation="template-instance">
+          <edgelabel>&lt; Engine &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1139" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="140" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="139" bodyend="147"/>
+    <listofallmembers>
+      <member refid="classUserInfoCore_1282c9bfd140bd09777aff395158c35ab" prot="public" virt="pure-virtual"><scope>UserInfoCore</scope><name>FillElement</name></member>
+      <member refid="classUserInfoCore_1a09a9b965ca04a186143787c0d049a7f" prot="public" virt="pure-virtual"><scope>UserInfoCore</scope><name>ParseElement</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ill__polyfit_8m.xml
===================================================================
--- /doc/xml/ill__polyfit_8m.xml (revision 187)
+++ /doc/xml/ill__polyfit_8m.xml (revision 187)
@@ -0,0 +1,658 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ill__polyfit_8m" kind="file">
+    <compoundname>ill_polyfit.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="ill__polyfit_8m_148a49a8f8836255c3a867c5c5997840d" prot="public" static="no" mutable="no">
+        <type>Test example for polynomial regression</type>
+        <definition>Test example for polynomial regression x</definition>
+        <argsstring></argsstring>
+        <name>x</name>
+        <initializer> 0.1:0.1:1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="2" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="2" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1f5baa506e65b4caa6be6d1c6661dfe63" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Data</definition>
+        <argsstring></argsstring>
+        <name>Data</name>
+        <initializer> x.^3 - 0.1*x  + 1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="3" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="3" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1cb91a2ef664f30e00d2a2b60b7b1d329" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>DataC</definition>
+        <argsstring></argsstring>
+        <name>DataC</name>
+        <initializer> Data+0.02*randn(1,10)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="4" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="4" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1042f973e6f7d952f579a2bc5dc1f9d8c" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>xP</definition>
+        <argsstring></argsstring>
+        <name>xP</name>
+        <initializer> 0:0.01:1.2</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="6" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="6" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1a52645c0ee282a748dee9b026b638478" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>x n</definition>
+        <argsstring></argsstring>
+        <name>n</name>
+        <initializer>1:5
+	Pn = polyfit(x,DataC,n)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="21" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="20" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1ab36a85ea13a53d069f8e5050bfe0678" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>devn</definition>
+        <argsstring></argsstring>
+        <name>devn</name>
+        <initializer> DataC-polyval(Pn,x)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="22" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="22" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_196dbaf91095e26fe73d731f911f2cd48" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Yn</definition>
+        <argsstring></argsstring>
+        <name>Yn</name>
+        <initializer> polyval(Pn,xP)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="23" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="23" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1123b845589fd868f506b014c94ee7df7" prot="public" static="no" mutable="no">
+        <type>figure</type>
+        <definition>figure ind</definition>
+        <argsstring></argsstring>
+        <name>ind</name>
+        <initializer> ind+1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="27" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="27" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_158ab1fd68e97078232808206b850161b" prot="public" static="no" mutable="no">
+        <type>hold</type>
+        <definition>hold on</definition>
+        <argsstring></argsstring>
+        <name>on</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="29" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1b0f0b64976a0ab81199ee6b740020156" prot="public" static="no" mutable="no">
+        <type>end for</type>
+        <definition>end for o</definition>
+        <argsstring></argsstring>
+        <name>o</name>
+        <initializer>1:5
+	D = DataC</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="40" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="39" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_11ab224c10c942431adb9c9dd29acb067" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>end[th, tll]</definition>
+        <argsstring>[th, tll]</argsstring>
+        <name>end</name>
+        <initializer>arx([D;ones(size(x))])</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="44" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1d686f91c7cfdf14667846b383d0ab540" prot="public" static="no" mutable="no">
+        <type>end</type>
+        <definition>end emar</definition>
+        <argsstring></argsstring>
+        <name>emar</name>
+        <initializer> exp(marll)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="47" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1391e34f2de441d79152a7b3d6e4c9c86" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>figure</definition>
+        <argsstring></argsstring>
+        <name>figure</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="48" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="48" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ill__polyfit_8m_1b91b34ae619fcdfcba4522b4f335bf83" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Position</definition>
+        <argsstring></argsstring>
+        <name>Position</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="59" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="59" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="ill__polyfit_8m_1d847cfb7fab5e63a0628752c61532240" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>close all</type>
+        <definition>close all figure</definition>
+        <argsstring>(1)</argsstring>
+        <name>figure</name>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="9"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1ab12de0a32a5e49fd31c109964c48ba5" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>subplot</definition>
+        <argsstring>(2, 2, 1)</argsstring>
+        <name>subplot</name>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="10"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1c80e87e51877d050827340fba464fde8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(x, DataC,&apos;+&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>x</type>
+        </param>
+        <param>
+          <type>DataC</type>
+        </param>
+        <param>
+          <type>&apos;+&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="11"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1381ae41961f9742724dec9f6167d4743" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>set</definition>
+        <argsstring>(gca,&apos;XLim&apos;,[0, 1.4])</argsstring>
+        <name>set</name>
+        <param>
+          <type>gca</type>
+        </param>
+        <param>
+          <type>&apos;XLim&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="12"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1f816983c15d2a9c7aa11b03c1a869448" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>title</definition>
+        <argsstring>(&apos;y=x^3-0.1x+1+0.1 N(0, 1)&apos;)</argsstring>
+        <name>title</name>
+        <param>
+          <type>&apos;</type>
+          <declname>y</declname>
+          <defval>x^3-0.1x+1+0.1 N(0, 1)&apos;</defval>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="13"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1f0572a73390c559c115922b168b58ea1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>set</definition>
+        <argsstring>(gcf,&apos;Position&apos;,[100 100 350 250])</argsstring>
+        <name>set</name>
+        <param>
+          <type>gcf</type>
+        </param>
+        <param>
+          <type>&apos;Position&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="14"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1a31ca403c5d9830bfec8020f97b49f29" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>set</definition>
+        <argsstring>(gcf,&apos;PaperPositionMode&apos;,&apos;auto&apos;)</argsstring>
+        <name>set</name>
+        <param>
+          <type>gcf</type>
+        </param>
+        <param>
+          <type>&apos;PaperPositionMode&apos;</type>
+        </param>
+        <param>
+          <type>&apos;auto&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="15"/>
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+        <type>id</type>
+        <definition>id ind</definition>
+        <argsstring>()</argsstring>
+        <name>ind</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="19"/>
+      </memberdef>
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+        <type></type>
+        <definition>subplot</definition>
+        <argsstring>(2, 2, ind)</argsstring>
+        <name>subplot</name>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>ind</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="25"/>
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+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(xP, Yn)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xP</type>
+        </param>
+        <param>
+          <type>Yn</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="30"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_170a49e86fdacb63cecac3f662dfda618" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>title</definition>
+        <argsstring>([&apos;Order=&apos;num2str(n) &apos;, MSE=&apos;num2str(devn *devn&apos;/10)])</argsstring>
+        <name>title</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="31"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1ef55883f7404c2104b7f234057d7755f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>eval</definition>
+        <argsstring>([&apos;print-depsc2 f&apos;num2str(n)])</argsstring>
+        <name>eval</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="34"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1cbf1f5c6a1c4d65d80b1494bce593147" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>close all</type>
+        <definition>close all mse</definition>
+        <argsstring>(n)</argsstring>
+        <name>mse</name>
+        <param>
+          <type>n</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="36"/>
+      </memberdef>
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+        <type></type>
+        <definition>marll</definition>
+        <argsstring>(o)</argsstring>
+        <name>marll</name>
+        <param>
+          <type>o</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="45"/>
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+        <type></type>
+        <definition>subplot</definition>
+        <argsstring>(1, 2, 1)</argsstring>
+        <name>subplot</name>
+        <param>
+          <type>1</type>
+        </param>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
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+        <detaileddescription>
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+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="49"/>
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+        <type></type>
+        <definition>bar</definition>
+        <argsstring>(emar/sum(emar))</argsstring>
+        <name>bar</name>
+        <param>
+          <type>emar/</type>
+          <declname>sum</declname>
+          <array>emar</array>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="50"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_119e4afed0ffb25978d1339b266829a80" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>title</definition>
+        <argsstring>(&apos;Probability of the correct order&apos;)</argsstring>
+        <name>title</name>
+        <param>
+          <type>&apos;Probability of the correct order&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="51"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_17c28196c4ed06d30a20eadc14c63406c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>subplot</definition>
+        <argsstring>(1, 2, 2)</argsstring>
+        <name>subplot</name>
+        <param>
+          <type>1</type>
+        </param>
+        <param>
+          <type>2</type>
+        </param>
+        <param>
+          <type>2</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="53"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1c65497eb7e9643edd5a0f7ea2bb0b07c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(-marll/100)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>-marll/</type>
+          <declname>100</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="54"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1240d32e764cf8b4b7ad177942c9d49aa" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold on</type>
+        <definition>hold on plot</definition>
+        <argsstring>(1:5, mse *10,&apos;r&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>1:5</type>
+        </param>
+        <param>
+          <type>mse *</type>
+          <declname>10</declname>
+        </param>
+        <param>
+          <type>&apos;r&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="56"/>
+      </memberdef>
+      <memberdef kind="function" id="ill__polyfit_8m_1e5bd8b4b126318591db608896de78fe5" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>title</definition>
+        <argsstring>(&apos;Bayes factor and MSE&apos;) set(gcf</argsstring>
+        <name>title</name>
+        <param>
+          <type>&apos;Bayes factor and MSE&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" line="59"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">%<sp/>Test<sp/>example<sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>polynomial<sp/>regression</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">x<sp/>=<sp/>0.1:0.1:1;</highlight></codeline>
+<codeline lineno="3"><highlight class="normal">Data<sp/>=<sp/>x.^3<sp/>-<sp/>0.1*x<sp/><sp/>+<sp/>1;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">%DataC<sp/>=<sp/>Data+0.02*randn(1,10);</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal">xP<sp/>=<sp/>0:0.01:1.2;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal">close<sp/>all</highlight></codeline>
+<codeline lineno="9"><highlight class="normal">figure(1);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal">%subplot(2,2,1);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">plot(x,DataC,</highlight><highlight class="charliteral">&apos;+&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keyword">set</highlight><highlight class="normal">(gca,</highlight><highlight class="stringliteral">&apos;XLim&apos;</highlight><highlight class="normal">,);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">title(</highlight><highlight class="stringliteral">&apos;y=x^3-0.1x+1<sp/>+<sp/>0.1<sp/>N(0,1)&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keyword">set</highlight><highlight class="normal">(gcf,</highlight><highlight class="stringliteral">&apos;Position&apos;</highlight><highlight class="normal">,);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="keyword">set</highlight><highlight class="normal">(gcf,</highlight><highlight class="stringliteral">&apos;PaperPositionMode&apos;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&apos;auto&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal">print<sp/>-depsc2<sp/>f0</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal">ind<sp/>=<sp/>2;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>n=1:5</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Pn<sp/>=<sp/>polyfit(x,DataC,n);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>devn<sp/>=<sp/>DataC-polyval(Pn,x);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Yn<sp/>=<sp/>polyval(Pn,xP);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/><sp/><sp/><sp/><sp/><sp/><sp/>subplot(2,2,ind);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>figure</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ind<sp/>=<sp/>ind+1;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(x,DataC,</highlight><highlight class="charliteral">&apos;+&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hold<sp/>on;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(xP,Yn);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>title([</highlight><highlight class="stringliteral">&apos;Order=&apos;</highlight><highlight class="normal"><sp/>num2str(n)<sp/></highlight><highlight class="stringliteral">&apos;,<sp/>MSE=&apos;</highlight><highlight class="normal"><sp/>num2str(devn*devn</highlight><highlight class="stringliteral">&apos;/10)]);</highlight></codeline>
+<codeline lineno="32"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>set(gcf,&apos;</highlight><highlight class="normal">Position</highlight><highlight class="stringliteral">&apos;,[100<sp/>100<sp/>350<sp/>250]);</highlight></codeline>
+<codeline lineno="33"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>set(gcf,&apos;</highlight><highlight class="normal">PaperPositionMode</highlight><highlight class="charliteral">&apos;,&apos;</highlight><highlight class="keyword">auto</highlight><highlight class="stringliteral">&apos;);</highlight></codeline>
+<codeline lineno="34"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eval([&apos;</highlight><highlight class="normal">print<sp/>-depsc2<sp/>f</highlight><highlight class="stringliteral">&apos;<sp/>num2str(n)]);</highlight></codeline>
+<codeline lineno="35"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>close<sp/>all</highlight></codeline>
+<codeline lineno="36"><highlight class="stringliteral"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mse(n)<sp/>=<sp/>devn*devn&apos;</highlight><highlight class="normal">/10;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>o=1:5</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>D<sp/>=<sp/>DataC;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>n=1:o</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>D<sp/>=<sp/>[D;<sp/>x.^n];</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>[th,tll]=arx([D;ones(size(x))]);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>marll(o)<sp/>=<sp/>tll;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">emar<sp/>=<sp/>exp(marll);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal">figure;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal">subplot(1,2,1);</highlight></codeline>
+<codeline lineno="50"><highlight class="normal">bar(emar/sum(emar));</highlight></codeline>
+<codeline lineno="51"><highlight class="normal">title(</highlight><highlight class="stringliteral">&apos;Probability<sp/>of<sp/>the<sp/>correct<sp/>order&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal">subplot(1,2,2);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal">plot(-marll/100);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="56"><highlight class="normal">plot(1:5,mse*10,</highlight><highlight class="charliteral">&apos;r&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal">title(</highlight><highlight class="stringliteral">&apos;Bayes<sp/>factor<sp/>and<sp/>MSE&apos;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal">set(gcf,&apos;Position&apos;,[100<sp/>100<sp/>600<sp/>250]);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal">set(gcf,&apos;PaperPositionMode&apos;,&apos;auto&apos;);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal">print<sp/>-depsc2<sp/>prob</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/itpp__ext_8h.xml
===================================================================
--- /doc/xml/itpp__ext_8h.xml (revision 187)
+++ /doc/xml/itpp__ext_8h.xml (revision 187)
@@ -0,0 +1,190 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="itpp__ext_8h" kind="file">
+    <compoundname>itpp_ext.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includedby refid="libEF_8h" local="yes">work/git/mixpp/bdm/stat/libEF.h</includedby>
+    <includedby refid="chmat_8h" local="yes">work/git/mixpp/bdm/math/chmat.h</includedby>
+    <includedby refid="itpp__ext_8cpp" local="yes">work/git/mixpp/bdm/itpp_ext.cpp</includedby>
+    <includedby refid="libBM_8cpp" local="yes">work/git/mixpp/bdm/stat/libBM.cpp</includedby>
+    <includedby refid="loggers_8h" local="yes">work/git/mixpp/bdm/stat/loggers.h</includedby>
+    <incdepgraph>
+      <node id="267">
+        <label>work/git/mixpp/bdm/itpp_ext.h</label>
+        <link refid="itpp_ext.h"/>
+        <childnode refid="268" relation="include">
+        </childnode>
+      </node>
+      <node id="268">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="282">
+        <label>work/git/mixpp/bdm/stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="275" relation="include">
+        </childnode>
+        <childnode refid="276" relation="include">
+        </childnode>
+        <childnode refid="272" relation="include">
+        </childnode>
+      </node>
+      <node id="280">
+        <label>work/git/mixpp/bdm/stat/merger.h</label>
+        <link refid="merger_8h"/>
+      </node>
+      <node id="279">
+        <label>work/git/mixpp/bdm/stat/emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="280" relation="include">
+        </childnode>
+        <childnode refid="275" relation="include">
+        </childnode>
+      </node>
+      <node id="274">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="275" relation="include">
+        </childnode>
+      </node>
+      <node id="269">
+        <label>work/git/mixpp/bdm/itpp_ext.h</label>
+        <link refid="itpp_ext.h"/>
+        <childnode refid="270" relation="include">
+        </childnode>
+        <childnode refid="281" relation="include">
+        </childnode>
+        <childnode refid="282" relation="include">
+        </childnode>
+      </node>
+      <node id="270">
+        <label>work/git/mixpp/bdm/stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="271" relation="include">
+        </childnode>
+        <childnode refid="273" relation="include">
+        </childnode>
+        <childnode refid="278" relation="include">
+        </childnode>
+        <childnode refid="279" relation="include">
+        </childnode>
+        <childnode refid="280" relation="include">
+        </childnode>
+      </node>
+      <node id="278">
+        <label>work/git/mixpp/bdm/estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="275" relation="include">
+        </childnode>
+      </node>
+      <node id="271">
+        <label>work/git/mixpp/bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="272" relation="include">
+        </childnode>
+      </node>
+      <node id="272">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim__var__arx_8cpp"/>
+      </node>
+      <node id="276">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="281">
+        <label>work/git/mixpp/bdm/math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="273" relation="include">
+        </childnode>
+        <childnode refid="276" relation="include">
+        </childnode>
+      </node>
+      <node id="273">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="274" relation="include">
+        </childnode>
+        <childnode refid="276" relation="include">
+        </childnode>
+        <childnode refid="277" relation="include">
+        </childnode>
+      </node>
+      <node id="277">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+      <node id="275">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classitpp_1_1Gamma__RNG" prot="public">itpp::Gamma_RNG</innerclass>
+    <innernamespace refid="namespaceitpp">itpp</innernamespace>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>Interface:<sp/>itpp_ext</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Description:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Author:<sp/>smidl<sp/>&lt;smidl@utia.cas.cz&gt;,<sp/>(C)<sp/>2008</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Copyright:<sp/>See<sp/>COPYING<sp/>file<sp/>that<sp/>comes<sp/>with<sp/>this<sp/>distribution</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#ifndef<sp/>ITEX_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>ITEX_H</highlight></codeline>
+<codeline lineno="16"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">namespace<sp/></highlight><highlight class="normal">itpp<sp/>{</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;int&gt;<sp/>to_Arr<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>ivec<sp/>&amp;indices<sp/>);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>linspace<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>from,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>to<sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bvec<sp/>operator&amp;<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;a,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;b<sp/>);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>bvec<sp/>operator|<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;a,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>bvec<sp/>&amp;b<sp/>);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>template&lt;class<sp/>Num_T&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="comment">//<sp/>void<sp/>set_subvector(vec<sp/>&amp;ov,<sp/>ivec<sp/>&amp;iv,<sp/>const<sp/>Vec&lt;Num_T&gt;<sp/>&amp;v);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_subvector<sp/>(<sp/>vec<sp/>&amp;ov,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>ivec<sp/>&amp;iv,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36" refid="classitpp_1_1Gamma__RNG" refkind="compound"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classitpp_1_1Gamma__RNG" kindref="compound" tooltip="Gamma distribution.">Gamma_RNG</ref><sp/>{</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classitpp_1_1Gamma__RNG_1e132860f825f427d63652edd02c25b54" kindref="member" tooltip="constructor. Set lambda.">Gamma_RNG</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a=1.0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>b=1.0<sp/>);</highlight></codeline>
+<codeline lineno="41" refid="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" kindref="member" tooltip="Set lambda.">setup</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>a0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>b0<sp/>)<sp/>{<sp/>alpha=a0;<sp/>beta=b0;}</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classitpp_1_1Gamma__RNG_18e666953249038f262cece2d3ed952d6" kindref="member" tooltip="get lambda">get_setup</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="45" refid="classitpp_1_1Gamma__RNG_198e2e65456bca33fca602b2bd607235e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classitpp_1_1Gamma__RNG_198e2e65456bca33fca602b2bd607235e" kindref="member" tooltip="Get one sample.">operator() </ref>()<sp/>{<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>sample();<sp/>}</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classitpp_1_1Gamma__RNG_198e2e65456bca33fca602b2bd607235e" kindref="member" tooltip="Get one sample.">operator() </ref>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classitpp_1_1Gamma__RNG_198e2e65456bca33fca602b2bd607235e" kindref="member" tooltip="Get one sample.">operator() </ref>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>w<sp/>);</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">private</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sample();</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>alpha;</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>beta;</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Random_Generator<sp/>RNG;</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Normal_RNG<sp/>NRNG;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">inline</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>exp_rand()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>-std::log<sp/>(<sp/>RNG.random_01()<sp/>);}</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">inline</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>unif_rand()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>RNG.random_01();}</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">inline</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>norm_rand()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>NRNG.sample();}</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>qr<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A,<sp/>mat<sp/>&amp;R<sp/>);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//ITEX_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/itpp_ext.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEKF.xml
===================================================================
--- /doc/xml/classEKF.xml (revision 187)
+++ /doc/xml/classEKF.xml (revision 187)
@@ -0,0 +1,805 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEKF" kind="class" prot="public">
+    <compoundname>EKF</compoundname>
+    <basecompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; fsqmat &gt;</basecompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+    <templateparamlist>
+      <param>
+        <type>class</type>
+        <declname>sq_T</declname>
+        <defname>sq_T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classEKF_103674fdc59a208912af19a4943c29214" prot="private" static="no" mutable="no">
+        <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+        <definition>diffbifn* EKF&lt; sq_T &gt;::pfxu</definition>
+        <argsstring></argsstring>
+        <name>pfxu</name>
+        <briefdescription>
+<para>Internal Model f(x,u). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="199" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="199" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKF_12dc44cd82821964039bdb2c5c92a6140" prot="private" static="no" mutable="no">
+        <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+        <definition>diffbifn* EKF&lt; sq_T &gt;::phxu</definition>
+        <argsstring></argsstring>
+        <name>phxu</name>
+        <briefdescription>
+<para>Observation Model h(x,u). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="201" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="201" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEKF_1ea4f3254cacf0a92d2a820b1201d049e" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EKF&lt; sq_T &gt;::EKF</definition>
+        <argsstring>(RV rvx, RV rvy, RV rvu)</argsstring>
+        <name>EKF</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvy</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="204" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="344" bodyend="344"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKF_128d058ae4d24d992d2f055419a06ee66" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKF&lt; sq_T &gt;::set_parameters</definition>
+        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const sq_T Q0, const sq_T R0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>pfxu</declname>
+        </param>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>phxu</declname>
+        </param>
+        <param>
+          <type>const sq_T</type>
+          <declname>Q0</declname>
+        </param>
+        <param>
+          <type>const sq_T</type>
+          <declname>R0</declname>
+        </param>
+        <briefdescription>
+<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="347" bodyend="361"/>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; fsqmat &gt;::_mu</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; fsqmat &gt;::A</references>
+        <references refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" compoundref="libKF_8h" startline="79">Kalman&lt; fsqmat &gt;::B</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; fsqmat &gt;::C</references>
+        <references refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" compoundref="libKF_8h" startline="83">Kalman&lt; fsqmat &gt;::D</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; fsqmat &gt;::dimu</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; fsqmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; fsqmat &gt;::R</references>
+      </memberdef>
+      <memberdef kind="function" id="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void EKF&lt; sq_T &gt;::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classKalman_17750ffd73f261828a32c18aaeb65c75c">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="364" bodyend="396"/>
+        <references refid="classKalman_1d422f51467c7a06174af2476d2826132" compoundref="libKF_8h" startline="95">Kalman&lt; fsqmat &gt;::_K</references>
+        <references refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" compoundref="libKF_8h" startline="101">Kalman&lt; fsqmat &gt;::_mu</references>
+        <references refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" compoundref="libKF_8h" startline="103">Kalman&lt; fsqmat &gt;::_P</references>
+        <references refid="classKalman_145c9f928d2d62e0c884900fb3380f904" compoundref="libKF_8h" startline="99">Kalman&lt; fsqmat &gt;::_Ry</references>
+        <references refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" compoundref="libKF_8h" startline="97">Kalman&lt; fsqmat &gt;::_yp</references>
+        <references refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" compoundref="libKF_8h" startline="77">Kalman&lt; fsqmat &gt;::A</references>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; fsqmat &gt;::C</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalman_1b0153795a1444b6968a86409c778d9ce" compoundref="libKF_8h" startline="75">Kalman&lt; fsqmat &gt;::dimu</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; fsqmat &gt;::dimy</references>
+        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401" compoundref="libEF_8h" startline="400" endline="403">enorm&lt; sq_T &gt;::evalpdflog</references>
+        <references refid="classKalman_1e580ab06483952bd03f2e651763e184f" compoundref="libKF_8h" startline="92">Kalman&lt; fsqmat &gt;::fy</references>
+        <references refid="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" compoundref="libDC_8cpp" startline="14" endline="14">fsqmat::inv</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" compoundref="libDC_8cpp" startline="10" endline="10">fsqmat::mult_sym</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; fsqmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; fsqmat &gt;::R</references>
+        <references refid="classfsqmat_1cedf4f048309056f4262c930914dfda8" compoundref="libDC_8cpp" startline="9" endline="9">fsqmat::to_mat</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; fsqmat  &gt;::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const mat &amp;B0, const mat &amp;C0, const mat &amp;D0, const fsqmat &amp;R0, const fsqmat &amp;Q0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>R0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+<para>Set parameters with check of relevance. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="111"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; fsqmat  &gt;::set_est</definition>
+        <argsstring>(const vec &amp;mu0, const fsqmat &amp;P0)</argsstring>
+        <name>set_est</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>Set estimate values, used e.g. in initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="113" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="113" bodyend="118"/>
+        <references refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" compoundref="libKF_8h" startline="81">Kalman&lt; sq_T &gt;::C</references>
+        <references refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" compoundref="libKF_8h" startline="73">Kalman&lt; sq_T &gt;::dimy</references>
+        <references refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" compoundref="libKF_8h" startline="90">Kalman&lt; sq_T &gt;::est</references>
+        <references refid="classKalman_1e580ab06483952bd03f2e651763e184f" compoundref="libKF_8h" startline="92">Kalman&lt; sq_T &gt;::fy</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; Kalman&lt; fsqmat  &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="123" bodyend="123"/>
+        <references refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" compoundref="libKF_8h" startline="90">Kalman&lt; sq_T &gt;::est</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; Kalman&lt; fsqmat  &gt;::__K</definition>
+        <argsstring>()</argsstring>
+        <name>__K</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="125" bodyend="125"/>
+        <references refid="classKalman_1d422f51467c7a06174af2476d2826132" compoundref="libKF_8h" startline="95">Kalman&lt; sq_T &gt;::_K</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec Kalman&lt; fsqmat  &gt;::_dP</definition>
+        <argsstring>()</argsstring>
+        <name>_dP</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="127" bodyend="127"/>
+        <references refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" compoundref="libKF_8h" startline="103">Kalman&lt; sq_T &gt;::_P</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; fsqmat  &gt;::rvy</definition>
+        <argsstring></argsstring>
+        <name>rvy</name>
+        <briefdescription>
+<para>Indetifier of output rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; fsqmat  &gt;::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indetifier of exogeneous rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="69" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; fsqmat  &gt;::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache of rv.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="71" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; fsqmat  &gt;::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>cache of rvy.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; fsqmat  &gt;::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache of rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="75" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; fsqmat  &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="77" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; fsqmat  &gt;::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="79" bodyend="-1"/>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; fsqmat  &gt;::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+<para>Matrix C. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="81" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; fsqmat  &gt;::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Matrix D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="83" bodyend="-1"/>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref></type>
+        <definition>fsqmat  Kalman&lt; fsqmat  &gt;::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+<para>Matrix Q in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref></type>
+        <definition>fsqmat  Kalman&lt; fsqmat  &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Matrix R in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="87" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &gt;</type>
+        <definition>enorm&lt;fsqmat &gt; Kalman&lt; fsqmat  &gt;::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density on $x_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="90" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &gt;</type>
+        <definition>enorm&lt;fsqmat &gt; Kalman&lt; fsqmat  &gt;::fy</definition>
+        <argsstring></argsstring>
+        <name>fy</name>
+        <briefdescription>
+<para>preditive density on $y_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="92" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; fsqmat  &gt;::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+<para>placeholder for <ref refid="classKalman" kindref="compound">Kalman</ref> gain </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="95" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; fsqmat  &gt;::_yp</definition>
+        <argsstring></argsstring>
+        <name>_yp</name>
+        <briefdescription>
+<para>cache of fy.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="97" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" static="no" mutable="no">
+        <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+        <definition>fsqmat &amp; Kalman&lt; fsqmat  &gt;::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+<para>cache of fy.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="99" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; fsqmat  &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>cache of est.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="101" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKF_128d058ae4d24d992d2f055419a06ee66" compoundref="libKF_8h" startline="347" endline="361">EKF&lt; sq_T &gt;::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" static="no" mutable="no">
+        <type><ref refid="classfsqmat" kindref="compound">fsqmat</ref> &amp;</type>
+        <definition>fsqmat &amp; Kalman&lt; fsqmat  &gt;::_P</definition>
+        <argsstring></argsstring>
+        <name>_P</name>
+        <briefdescription>
+<para>cache of est.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="103" bodyend="-1"/>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> Filter. </para>    </briefdescription>
+    <detaileddescription>
+<para>An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="860">
+        <label>EKF&lt; sq_T &gt;</label>
+        <link refid="classEKF"/>
+        <childnode refid="861" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="861">
+        <label>Kalman&lt; fsqmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="862" relation="public-inheritance">
+        </childnode>
+        <childnode refid="863" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="862">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="863">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="862" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="864">
+        <label>EKF&lt; sq_T &gt;</label>
+        <link refid="classEKF"/>
+        <childnode refid="865" relation="public-inheritance">
+        </childnode>
+        <childnode refid="876" relation="usage">
+          <edgelabel>pfxu
+phxu</edgelabel>
+        </childnode>
+      </node>
+      <node id="865">
+        <label>Kalman&lt; fsqmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="866" relation="public-inheritance">
+        </childnode>
+        <childnode refid="867" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+        <childnode refid="868" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="870" relation="usage">
+          <edgelabel>est
+fy</edgelabel>
+        </childnode>
+        <childnode refid="875" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="873">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="871" relation="public-inheritance">
+        </childnode>
+        <childnode refid="874" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="874">
+        <label>sq_T</label>
+      </node>
+      <node id="872">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="867" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="866">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="867" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="868">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="869" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="870">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="871" relation="public-inheritance">
+        </childnode>
+        <childnode refid="868" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="873" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="867">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="869">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="876">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="877" relation="public-inheritance">
+        </childnode>
+        <childnode refid="867" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="875">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="866" relation="public-inheritance">
+        </childnode>
+        <childnode refid="874" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="867" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+      </node>
+      <node id="877">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="871">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="872" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="197" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="197" bodyend="209"/>
+    <listofallmembers>
+      <member refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" virt="non-virtual"><scope>EKF</scope><name>__K</name></member>
+      <member refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" virt="non-virtual"><scope>EKF</scope><name>_dP</name></member>
+      <member refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" virt="virtual"><scope>EKF</scope><name>_epdf</name></member>
+      <member refid="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" virt="non-virtual"><scope>EKF</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>EKF</scope><name>_ll</name></member>
+      <member refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" virt="non-virtual"><scope>EKF</scope><name>_mu</name></member>
+      <member refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" virt="non-virtual"><scope>EKF</scope><name>_P</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>EKF</scope><name>_rv</name></member>
+      <member refid="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" virt="non-virtual"><scope>EKF</scope><name>_Ry</name></member>
+      <member refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" virt="non-virtual"><scope>EKF</scope><name>_yp</name></member>
+      <member refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" virt="non-virtual"><scope>EKF</scope><name>A</name></member>
+      <member refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" virt="non-virtual"><scope>EKF</scope><name>B</name></member>
+      <member refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" prot="public" virt="virtual"><scope>EKF</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>EKF</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>EKF</scope><name>BM</name></member>
+      <member refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" virt="non-virtual"><scope>EKF</scope><name>C</name></member>
+      <member refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" virt="non-virtual"><scope>EKF</scope><name>D</name></member>
+      <member refid="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" virt="non-virtual"><scope>EKF</scope><name>dimu</name></member>
+      <member refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" virt="non-virtual"><scope>EKF</scope><name>dimx</name></member>
+      <member refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" virt="non-virtual"><scope>EKF</scope><name>dimy</name></member>
+      <member refid="classEKF_1ea4f3254cacf0a92d2a820b1201d049e" prot="public" virt="non-virtual"><scope>EKF</scope><name>EKF</name></member>
+      <member refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" virt="non-virtual"><scope>EKF</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>EKF</scope><name>evalll</name></member>
+      <member refid="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" virt="non-virtual"><scope>EKF</scope><name>fy</name></member>
+      <member refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" prot="public" virt="non-virtual"><scope>EKF</scope><name>Kalman</name></member>
+      <member refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" prot="public" virt="non-virtual"><scope>EKF</scope><name>Kalman</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>EKF</scope><name>ll</name></member>
+      <member refid="classEKF_103674fdc59a208912af19a4943c29214" prot="private" virt="non-virtual"><scope>EKF</scope><name>pfxu</name></member>
+      <member refid="classEKF_12dc44cd82821964039bdb2c5c92a6140" prot="private" virt="non-virtual"><scope>EKF</scope><name>phxu</name></member>
+      <member refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" virt="non-virtual"><scope>EKF</scope><name>Q</name></member>
+      <member refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" virt="non-virtual"><scope>EKF</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>EKF</scope><name>rv</name></member>
+      <member refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" virt="non-virtual"><scope>EKF</scope><name>rvu</name></member>
+      <member refid="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" virt="non-virtual"><scope>EKF</scope><name>rvy</name></member>
+      <member refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" virt="non-virtual"><scope>EKF</scope><name>set_est</name></member>
+      <member refid="classEKF_128d058ae4d24d992d2f055419a06ee66" prot="public" virt="non-virtual"><scope>EKF</scope><name>set_parameters</name></member>
+      <member refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" virt="non-virtual" ambiguityscope="Kalman&lt; fsqmat &gt;::"><scope>EKF</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKF</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/emix_8cpp.xml
===================================================================
--- /doc/xml/emix_8cpp.xml (revision 187)
+++ /doc/xml/emix_8cpp.xml (revision 187)
@@ -0,0 +1,86 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="emix_8cpp" kind="file">
+    <compoundname>emix.cpp</compoundname>
+    <includes refid="emix_8h" local="yes">emix.h</includes>
+    <incdepgraph>
+      <node id="335">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="336" relation="include">
+        </childnode>
+      </node>
+      <node id="334">
+        <label>emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="335" relation="include">
+        </childnode>
+        <childnode refid="337" relation="include">
+        </childnode>
+      </node>
+      <node id="339">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="336" relation="include">
+        </childnode>
+      </node>
+      <node id="337">
+        <label>libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="336" relation="include">
+        </childnode>
+        <childnode refid="338" relation="include">
+        </childnode>
+        <childnode refid="335" relation="include">
+        </childnode>
+        <childnode refid="339" relation="include">
+        </childnode>
+      </node>
+      <node id="336">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="338">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="336" relation="include">
+        </childnode>
+      </node>
+      <node id="333">
+        <label>work/git/mixpp/bdm/stat/emix.cpp</label>
+        <link refid="emix.cpp"/>
+        <childnode refid="334" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&quot;<ref refid="emix_8h" kindref="compound" tooltip="Probability distributions for Mixtures of pdfs.">emix.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5" refid="classemix_16ce82b24d7fe540ddbf44b472a005555" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classemix_16ce82b24d7fe540ddbf44b472a005555" kindref="member" tooltip="Set weights w and components R.">emix::set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;w0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>Array&lt;epdf*&gt;<sp/>&amp;Coms0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref><sp/>=<sp/>w0;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref>.length();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_182cc7fa22ce91cf461a522ad62014c65" kindref="member" tooltip="Compare if rv2 is identical to this RV.">equal</ref><sp/>(<sp/>Coms0<sp/>(<sp/>i<sp/>)-&gt;<ref refid="classepdf_14778ea61ef400813e47750e024e9fc2f" kindref="member" tooltip="access function, possibly dangerous!">_rv</ref>()<sp/>),</highlight><highlight class="stringliteral">&quot;RVs<sp/>do<sp/>not<sp/>match!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>=<sp/>Coms0;</highlight></codeline>
+<codeline lineno="12"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14" refid="classemix_10650601f24e633e0ab09aa1e46c14483" refkind="member"><highlight class="normal">vec<sp/><ref refid="classemix_10650601f24e633e0ab09aa1e46c14483" kindref="member" tooltip="Returns the required moment of the epdf.">emix::sample</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Sample<sp/>which<sp/>component</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>cumDist<sp/>=<sp/>cumsum<sp/>(<sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref><sp/>);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>u0<sp/>=<sp/>UniRNG.sample();</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(<sp/>(<sp/>cumDist<sp/>(<sp/>i<sp/>)<sp/>&lt;u0<sp/>)<sp/>&amp;&amp;<sp/>(<sp/>i&lt;<sp/>(<sp/><ref refid="classemix_1cdc8f4e2a5e43595ac5450d8a7f9d1ab" kindref="member" tooltip="weights of the components">w</ref>.length()-1<sp/>)<sp/>)<sp/>)<sp/>{i++;}</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classemix_17155d827417b53fb6aa5cff1459e6eb4" kindref="member" tooltip="Component (epdfs).">Coms</ref><sp/>(<sp/>i<sp/>)-&gt;sample();</highlight></codeline>
+<codeline lineno="23"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/loggers_8cpp.xml
===================================================================
--- /doc/xml/loggers_8cpp.xml (revision 187)
+++ /doc/xml/loggers_8cpp.xml (revision 187)
@@ -0,0 +1,196 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="loggers_8cpp" kind="file">
+    <compoundname>loggers.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="loggers_8h" local="yes">loggers.h</includes>
+    <includes refid="osutils_8h" local="yes">../osutils.h</includes>
+    <includes local="no">fcntl.h</includes>
+    <incdepgraph>
+      <node id="424">
+        <label>work/git/mixpp/bdm/stat/loggers.cpp</label>
+        <link refid="loggers.cpp"/>
+        <childnode refid="425" relation="include">
+        </childnode>
+        <childnode refid="426" relation="include">
+        </childnode>
+        <childnode refid="429" relation="include">
+        </childnode>
+        <childnode refid="430" relation="include">
+        </childnode>
+      </node>
+      <node id="426">
+        <label>loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="425" relation="include">
+        </childnode>
+        <childnode refid="427" relation="include">
+        </childnode>
+        <childnode refid="428" relation="include">
+        </childnode>
+      </node>
+      <node id="427">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="425" relation="include">
+        </childnode>
+      </node>
+      <node id="430">
+        <label>fcntl.h</label>
+      </node>
+      <node id="428">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="425" relation="include">
+        </childnode>
+      </node>
+      <node id="425">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="429">
+        <label>../osutils.h</label>
+        <link refid="osutils_8h-source"/>
+        <childnode refid="425" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">loggers.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../osutils.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;fcntl.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="preprocessor">#ifdef<sp/>WIN32</highlight></codeline>
+<codeline lineno="7"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;io.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="9"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10" refid="classmemlog_165571ebbb16577b5211adbb27baf769c" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmemlog_165571ebbb16577b5211adbb27baf769c" kindref="member" tooltip="Save values into an itfile named after fname.">memlog::itsave</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>fname<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>itf<sp/>(<sp/>fname<sp/>);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>.length();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref><sp/>(<sp/>i<sp/>).length()<sp/>&lt;1<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>std::ostringstream<sp/>o;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>o&lt;&lt;</highlight><highlight class="stringliteral">&quot;Variable&quot;</highlight><highlight class="normal">&lt;&lt;i;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/>o.str()<sp/>)<sp/>&lt;&lt;<sp/><ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref><sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/><ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref><sp/>(<sp/>i<sp/>)<sp/>)<sp/>&lt;&lt;<sp/><ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref><sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="23"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25" refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" kindref="member" tooltip="Initialize storage.">dirfilelog::init</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j,k;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>nsc=0;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>.length();i++<sp/>)<sp/>{nsc+=<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref><sp/>(<sp/>i<sp/>).count();}</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>;<sp/></highlight><highlight class="comment">//all<sp/>entries!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>filename[200];</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>num[3];</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Initialize<sp/>directory</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>makedir<sp/>(<sp/><ref refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" kindref="member" tooltip="name of the directory">dirname</ref><sp/>);<sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="comment">//<sp/>directory<sp/>OK,<sp/>or<sp/>it<sp/>can<sp/>be<sp/>overwritten</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="comment">//Create<sp/>filenames</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" kindref="member" tooltip="Automatically generated.">scalarnames</ref>.set_length<sp/>(<sp/>nsc<sp/>);</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>For<sp/>all<sp/>entries</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>.length();i++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//for<sp/>entries</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=0;j&lt;<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref><sp/>(<sp/>i<sp/>).length();j++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//for<sp/>RVs<sp/>in<sp/>entries</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rvsize<sp/>=<sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref><sp/>(<sp/>i<sp/>).size<sp/>(<sp/>j<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>rvsize<sp/>==1<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" kindref="member" tooltip="Automatically generated.">scalarnames</ref><sp/>(<sp/>ii<sp/>)<sp/>=<sp/><ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref><sp/>(<sp/>i<sp/>)<sp/>+<sp/></highlight><highlight class="stringliteral">&quot;_&quot;</highlight><highlight class="normal"><sp/>+<sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref><sp/>(<sp/>i<sp/>).name<sp/>(<sp/>j<sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ii++;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>k=0;k&lt;rvsize;k++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//for<sp/>all<sp/>scalars<sp/>in<sp/>given<sp/>RV</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sprintf<sp/>(<sp/>num,</highlight><highlight class="stringliteral">&quot;%d&quot;</highlight><highlight class="normal">,k<sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" kindref="member" tooltip="Automatically generated.">scalarnames</ref><sp/>(<sp/>ii<sp/>)<sp/>=<sp/><ref refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" kindref="member" tooltip="Names of logged quantities, e.g. names of algorithm variants.">names</ref><sp/>(<sp/>i<sp/>)<sp/>+<sp/></highlight><highlight class="stringliteral">&quot;_&quot;</highlight><highlight class="normal"><sp/>+<sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref><sp/>(<sp/>i<sp/>).name<sp/>(<sp/>j<sp/>)<sp/>+<sp/></highlight><highlight class="stringliteral">&quot;_&quot;</highlight><highlight class="normal"><sp/>+<sp/>num;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ii++;</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Create<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>frm=</highlight><highlight class="stringliteral">&quot;format&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>get_fname<sp/>(<sp/>filename,<sp/><ref refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" kindref="member" tooltip="name of the directory">dirname</ref>,<sp/>frm<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>FILE*<sp/>fpf;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fpf<sp/>=<sp/>fopen<sp/>(<sp/>filename,<sp/></highlight><highlight class="stringliteral">&quot;w&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;ii;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf<sp/>(<sp/>fpf,<sp/></highlight><highlight class="stringliteral">&quot;%s<sp/>RAW<sp/>d<sp/>1\n&quot;</highlight><highlight class="normal">,<sp/><ref refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" kindref="member" tooltip="Automatically generated.">scalarnames</ref><sp/>(<sp/>i<sp/>).c_str()<sp/>);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fclose<sp/>(<sp/>fpf<sp/>);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" kindref="member" tooltip="Initialize storage.">memlog::init</ref>();</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Delete<sp/>old<sp/>data</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" kindref="member" tooltip="Write memory storage to disk.">write_buffers</ref><sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77" refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" kindref="member" tooltip="Write memory storage to disk.">dirfilelog::write_buffers</ref><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Len<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>fp;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>nen=<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref>.length();<sp/></highlight><highlight class="comment">//all<sp/>entries!!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Dt;</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>DtRows;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j,k;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii;<sp/></highlight><highlight class="comment">//index<sp/>in<sp/>scalarnames;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>jj;<sp/></highlight><highlight class="comment">//index<sp/>in<sp/>vectors()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>filename[200];</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>Len&lt;=<ref refid="classmemlog_14195f322897ededdac66c404b848ced3" kindref="member" tooltip="Maximum length of vectors stored in memory.">maxlen</ref>,</highlight><highlight class="stringliteral">&quot;diffilelog&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ii<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;nen;i++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//for<sp/>entries</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Dt<sp/>=<sp/><ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref><sp/>(<sp/>i<sp/>)._data();</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>DtRows<sp/>=<sp/><ref refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" kindref="member" tooltip="Storage.">vectors</ref><sp/>(<sp/>i<sp/>).rows();</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>jj=0;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=0;j&lt;<ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref><sp/>(<sp/>i<sp/>).length();j++<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//for<sp/>RVs<sp/>in<sp/>entries</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rvsize<sp/>=<sp/><ref refid="classlogger_183eea0cf4fbca59474d015f751f128a7" kindref="member" tooltip="RVs of all logged variables.">entries</ref><sp/>(<sp/>i<sp/>).size<sp/>(<sp/>j<sp/>);</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>k=0;k&lt;rvsize;k++<sp/>)<sp/>{<sp/>{<sp/></highlight><highlight class="comment">//for<sp/>all<sp/>scalars<sp/>in<sp/>given<sp/>RV</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>get_fname<sp/>(<sp/>filename,<ref refid="classdirfilelog_1cba5ff1f74ed22910ed7d63aadf21771" kindref="member" tooltip="name of the directory">dirname</ref>,<ref refid="classdirfilelog_1854b7e7cc4cb40542b4a3ea06d915772" kindref="member" tooltip="Automatically generated.">scalarnames</ref><sp/>(<sp/>ii<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Len==0<sp/>)<sp/></highlight><highlight class="comment">//initialization</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fp<sp/>=<sp/>open<sp/>(<sp/>filename,<sp/>O_CREAT<sp/>|<sp/>O_WRONLY<sp/>|<sp/>O_TRUNC,<sp/>00644<sp/>);</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fp<sp/>=<sp/>open<sp/>(<sp/>filename,<sp/>O_CREAT<sp/>|<sp/>O_WRONLY<sp/>|<sp/>O_APPEND,<sp/>00644<sp/>);</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"></highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>write<sp/>(<sp/>fp,&amp;Dt[jj*<sp/>(<sp/>DtRows<sp/>)<sp/>],<sp/>(<sp/>Len<sp/>)<sp/>*</highlight><highlight class="keyword">sizeof</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>close<sp/>(<sp/>fp<sp/>);</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//next<sp/>row<sp/>in<sp/>Dt</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>jj++;</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//next<sp/>scalarname</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ii++;</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="115"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117" refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" kindref="member" tooltip="Shifts storage position for another time step.">dirfilelog::step</ref><sp/>(<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>==<sp/>(<sp/><ref refid="classmemlog_14195f322897ededdac66c404b848ced3" kindref="member" tooltip="Maximum length of vectors stored in memory.">maxlen</ref><sp/>-1<sp/>)<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" kindref="member" tooltip="Write memory storage to disk.">write_buffers</ref><sp/>(<sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>+1<sp/>);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref><sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>++;</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="128" refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" kindref="member" tooltip="Finalize storing information.">dirfilelog::finalize</ref><sp/>(<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref>&gt;0<sp/>)</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" kindref="member" tooltip="Write memory storage to disk.">write_buffers</ref><sp/>(<sp/><ref refid="classmemlog_13410b4c002636508c43ddcba8d394520" kindref="member" tooltip="Currect record to be written.">ind</ref><sp/>);<sp/></highlight><highlight class="comment">//assuming<sp/>here<sp/>that<sp/>i+1<sp/>was<sp/>not<sp/>filled</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/osutils_8cpp.xml
===================================================================
--- /doc/xml/osutils_8cpp.xml (revision 187)
+++ /doc/xml/osutils_8cpp.xml (revision 187)
@@ -0,0 +1,170 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="osutils_8cpp" kind="file">
+    <compoundname>osutils.cpp</compoundname>
+    <includes refid="osutils_8h" local="yes">osutils.h</includes>
+    <includes local="no">iostream</includes>
+    <includes local="no">sys/types.h</includes>
+    <includes local="no">sys/stat.h</includes>
+    <includes local="no">fcntl.h</includes>
+    <includes local="no">errno.h</includes>
+    <incdepgraph>
+      <node id="326">
+        <label>sys/stat.h</label>
+      </node>
+      <node id="328">
+        <label>errno.h</label>
+      </node>
+      <node id="327">
+        <label>fcntl.h</label>
+      </node>
+      <node id="325">
+        <label>sys/types.h</label>
+      </node>
+      <node id="324">
+        <label>iostream</label>
+      </node>
+      <node id="323">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="322">
+        <label>osutils.h</label>
+        <link refid="osutils_8h-source"/>
+        <childnode refid="323" relation="include">
+        </childnode>
+      </node>
+      <node id="321">
+        <label>work/git/mixpp/bdm/osutils.cpp</label>
+        <link refid="osutils.cpp"/>
+        <childnode refid="322" relation="include">
+        </childnode>
+        <childnode refid="324" relation="include">
+        </childnode>
+        <childnode refid="325" relation="include">
+        </childnode>
+        <childnode refid="326" relation="include">
+        </childnode>
+        <childnode refid="327" relation="include">
+        </childnode>
+        <childnode refid="328" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="osutils_8cpp_10f82aae3b9f165f2694d2326d8ecd311" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void get_fname</definition>
+        <argsstring>(char *filename, string &amp;dirname, string &amp;f)</argsstring>
+        <name>get_fname</name>
+        <param>
+          <type>char *</type>
+          <declname>filename</declname>
+        </param>
+        <param>
+          <type>string &amp;</type>
+          <declname>dirname</declname>
+        </param>
+        <param>
+          <type>string &amp;</type>
+          <declname>f</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/osutils.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/bdm/osutils.cpp" bodystart="27" bodyend="33"/>
+      </memberdef>
+      <memberdef kind="function" id="osutils_8cpp_1527d5b931624a8b8646477229dd30c82" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void makedir</definition>
+        <argsstring>(string &amp;dirname, bool rewrite)</argsstring>
+        <name>makedir</name>
+        <param>
+          <type>string &amp;</type>
+          <declname>dirname</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>rewrite</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Function creates a directory and raises it_error if it is not possible. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>dirname</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>name of the directory to be created </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>rewrite</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>if true then existence of the directory is not an error </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/osutils.cpp" line="35" bodyfile="/home/smidl/work/git/mixpp/bdm/osutils.cpp" bodystart="35" bodyend="45"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>Implementation:<sp/>osutils</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Description:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Author:<sp/>smidl<sp/>&lt;smidl@utia.cas.cz&gt;,<sp/>(C)<sp/>2008</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Copyright:<sp/>See<sp/>COPYING<sp/>file<sp/>that<sp/>comes<sp/>with<sp/>this<sp/>distribution</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;osutils.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;iostream&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#ifdef<sp/>WIN32</highlight></codeline>
+<codeline lineno="17"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;direct.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#else</highlight></codeline>
+<codeline lineno="19"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;sys/types.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;sys/stat.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="22"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;fcntl.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;errno.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>get_fname<sp/>(<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal">*<sp/>filename,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;dirname,<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;f<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="preprocessor">#ifdef<sp/>WIN32</highlight></codeline>
+<codeline lineno="29"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sprintf<sp/>(<sp/>filename,</highlight><highlight class="stringliteral">&quot;%s\\%s&quot;</highlight><highlight class="normal">,dirname.c_str(),f.c_str()<sp/>);</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="preprocessor">#else</highlight></codeline>
+<codeline lineno="31"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sprintf<sp/>(<sp/>filename,</highlight><highlight class="stringliteral">&quot;%s/%s&quot;</highlight><highlight class="normal">,dirname.c_str()<sp/>,f.c_str()<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="33"><highlight class="preprocessor"></highlight><highlight class="normal">}</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>makedir(</highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>&amp;dirname,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>rewrite){</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="preprocessor">#ifdef<sp/>WIN32</highlight></codeline>
+<codeline lineno="37"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mkdir(dirname.c_str())<sp/>==<sp/>-1)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>the<sp/>directory</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="preprocessor">#else</highlight></codeline>
+<codeline lineno="39"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mkdir(dirname.c_str(),<sp/>00755)<sp/>==<sp/>-1)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>the<sp/>directory</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="preprocessor">#endif</highlight></codeline>
+<codeline lineno="41"><highlight class="preprocessor"></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((rewrite)<sp/>&amp;&amp;<sp/>(<sp/>errno==EEXIST<sp/>)<sp/>)<sp/>it_warning<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;rewriting<sp/>directory&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;dirfilelog::<sp/>cannot<sp/>create<sp/>directory&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="45"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/osutils.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classKFcondQR.xml
===================================================================
--- /doc/xml/classKFcondQR.xml (revision 187)
+++ /doc/xml/classKFcondQR.xml (revision 187)
@@ -0,0 +1,747 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classKFcondQR" kind="class" prot="public">
+    <compoundname>KFcondQR</compoundname>
+    <basecompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; ldmat &gt;</basecompoundref>
+    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classKFcondQR_13f3968f92c7bbe4b0902d5e14ecc1cb4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>KFcondQR::KFcondQR</definition>
+        <argsstring>(RV rvx, RV rvy, RV rvu, RV rvRQ)</argsstring>
+        <name>KFcondQR</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvy</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvRQ</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="239" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="239" bodyend="239"/>
+      </memberdef>
+      <memberdef kind="function" id="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void KFcondQR::condition</definition>
+        <argsstring>(const vec &amp;RQ)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="241" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="238" bodyend="243"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" compoundref="libKF_8h" startline="71">Kalman&lt; ldmat &gt;::dimx</references>
+        <references refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" compoundref="libKF_8h" startline="85">Kalman&lt; ldmat &gt;::Q</references>
+        <references refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" compoundref="libKF_8h" startline="87">Kalman&lt; ldmat &gt;::R</references>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+        <references refid="classldmat_10884a613b94fde61bfc84288e73ce57f" compoundref="libDC_8h" startline="241" endline="241">ldmat::setD</references>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; ldmat  &gt;::set_parameters</definition>
+        <argsstring>(const mat &amp;A0, const mat &amp;B0, const mat &amp;C0, const mat &amp;D0, const ldmat &amp;R0, const ldmat &amp;Q0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>C0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>D0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>R0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>Q0</declname>
+        </param>
+        <briefdescription>
+<para>Set parameters with check of relevance. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="111"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; ldmat  &gt;::set_est</definition>
+        <argsstring>(const vec &amp;mu0, const ldmat &amp;P0)</argsstring>
+        <name>set_est</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>Set estimate values, used e.g. in initialization. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="113" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="113" bodyend="118"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_17750ffd73f261828a32c18aaeb65c75c" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void Kalman&lt; ldmat  &gt;::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="121"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; Kalman&lt; ldmat  &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="123" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>mat &amp;</type>
+        <definition>mat&amp; Kalman&lt; ldmat  &gt;::__K</definition>
+        <argsstring>()</argsstring>
+        <name>__K</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="125" bodyend="125"/>
+      </memberdef>
+      <memberdef kind="function" id="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec Kalman&lt; ldmat  &gt;::_dP</definition>
+        <argsstring>()</argsstring>
+        <name>_dP</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="127" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="127" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BMcond::_rvc</definition>
+        <argsstring>() const </argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
+        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; ldmat  &gt;::rvy</definition>
+        <argsstring></argsstring>
+        <name>rvy</name>
+        <briefdescription>
+<para>Indetifier of output rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV Kalman&lt; ldmat  &gt;::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indetifier of exogeneous rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="69" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; ldmat  &gt;::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache of rv.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">condition</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; ldmat  &gt;::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>cache of rvy.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="73" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int Kalman&lt; ldmat  &gt;::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache of rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="75" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+<para>Matrix A. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="77" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+<para>Matrix B. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="79" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+<para>Matrix C. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="81" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+<para>Matrix D. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="83" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref></type>
+        <definition>ldmat  Kalman&lt; ldmat  &gt;::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+<para>Matrix Q in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">condition</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref></type>
+        <definition>ldmat  Kalman&lt; ldmat  &gt;::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+<para>Matrix R in square-root form. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="87" bodyend="-1"/>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">condition</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classldmat" kindref="compound">ldmat</ref> &gt;</type>
+        <definition>enorm&lt;ldmat &gt; Kalman&lt; ldmat  &gt;::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density on $x_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="90" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classldmat" kindref="compound">ldmat</ref> &gt;</type>
+        <definition>enorm&lt;ldmat &gt; Kalman&lt; ldmat  &gt;::fy</definition>
+        <argsstring></argsstring>
+        <name>fy</name>
+        <briefdescription>
+<para>preditive density on $y_t$ </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="92" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat Kalman&lt; ldmat  &gt;::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+<para>placeholder for <ref refid="classKalman" kindref="compound">Kalman</ref> gain </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="95" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="95" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; ldmat  &gt;::_yp</definition>
+        <argsstring></argsstring>
+        <name>_yp</name>
+        <briefdescription>
+<para>cache of fy.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="97" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="97" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat &amp; Kalman&lt; ldmat  &gt;::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+<para>cache of fy.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="99" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; Kalman&lt; ldmat  &gt;::_mu</definition>
+        <argsstring></argsstring>
+        <name>_mu</name>
+        <briefdescription>
+<para>cache of est.mu </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="101" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" static="no" mutable="no">
+        <type><ref refid="classldmat" kindref="compound">ldmat</ref> &amp;</type>
+        <definition>ldmat &amp; Kalman&lt; ldmat  &gt;::_P</definition>
+        <argsstring></argsstring>
+        <name>_P</name>
+        <briefdescription>
+<para>cache of est.R </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="103" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BMcond::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>Identificator of the conditioning variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
+        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">BMcond::_rvc</referencedby>
+        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
+        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">condition</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para><ref refid="classKalman" kindref="compound">Kalman</ref> Filter with conditional diagonal matrices R and Q. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1118">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="1116">
+        <label>KFcondQR</label>
+        <link refid="classKFcondQR"/>
+        <childnode refid="1117" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1120" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1117">
+        <label>Kalman&lt; ldmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1118" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1119" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1119">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1118" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1120">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1125">
+        <label>ldmat</label>
+        <link refid="classldmat"/>
+        <childnode refid="1126" relation="private-inheritance">
+        </childnode>
+      </node>
+      <node id="1130">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1128" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1131" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="1131">
+        <label>sq_T</label>
+      </node>
+      <node id="1129">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1124" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1123">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="1124" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1124">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1121">
+        <label>KFcondQR</label>
+        <link refid="classKFcondQR"/>
+        <childnode refid="1122" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1133" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1126">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="1122">
+        <label>Kalman&lt; ldmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1123" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1125" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="1124" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+        <childnode refid="1127" relation="usage">
+          <edgelabel>est
+fy</edgelabel>
+        </childnode>
+        <childnode refid="1132" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1127">
+        <label>enorm&lt; ldmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="1128" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1125" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="1130" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1132">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="1123" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1131" relation="usage">
+          <edgelabel>_P
+Q
+R
+_Ry</edgelabel>
+        </childnode>
+        <childnode refid="1124" relation="usage">
+          <edgelabel>rvu
+rvy</edgelabel>
+        </childnode>
+      </node>
+      <node id="1128">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1129" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1133">
+        <label>BMcond</label>
+        <link refid="classBMcond"/>
+        <childnode refid="1124" relation="usage">
+          <edgelabel>rvc</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="235" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="235" bodyend="242"/>
+    <listofallmembers>
+      <member refid="classKalman_1980fcd41c6c548c5da7b8b67c8e6da79" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>__K</name></member>
+      <member refid="classKalman_1ac9540f3850b74d89a5fe4db6fc358ce" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>_dP</name></member>
+      <member refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4" prot="public" virt="virtual"><scope>KFcondQR</scope><name>_epdf</name></member>
+      <member refid="classKalman_1d422f51467c7a06174af2476d2826132" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>_ll</name></member>
+      <member refid="classKalman_1fe803a81d2d847b0b1db3c6b29c18061" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>_mu</name></member>
+      <member refid="classKalman_19fb808cc94a4c2652e1fb93be9bb7dcf" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>_P</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>_rv</name></member>
+      <member refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>_rvc</name></member>
+      <member refid="classKalman_145c9f928d2d62e0c884900fb3380f904" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>_Ry</name></member>
+      <member refid="classKalman_1764bbc95238eda11fc81c5ebd0b1dcfd" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>_yp</name></member>
+      <member refid="classKalman_15e02efe86ee91e9c74b93b425fe060b9" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>A</name></member>
+      <member refid="classKalman_1dc87704284a6c0bca13bf51f4345a50a" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>B</name></member>
+      <member refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" prot="public" virt="virtual"><scope>KFcondQR</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>KFcondQR</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>BM</name></member>
+      <member refid="classBMcond_19a38dcdabef902fd91da3c9fb6ac27f7" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>BMcond</name></member>
+      <member refid="classKalman_186a805cd6515872d1132ad0d6eb5dc13" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>C</name></member>
+      <member refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" prot="public" virt="virtual"><scope>KFcondQR</scope><name>condition</name></member>
+      <member refid="classKalman_1d69f774ba3335c970c1c5b1d182f4dd1" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>D</name></member>
+      <member refid="classKalman_1b0153795a1444b6968a86409c778d9ce" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>dimu</name></member>
+      <member refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>dimx</name></member>
+      <member refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>dimy</name></member>
+      <member refid="classKalman_15568c74bac67ae6d3b1061dba60c9424" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>evalll</name></member>
+      <member refid="classKalman_1e580ab06483952bd03f2e651763e184f" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>fy</name></member>
+      <member refid="classKalman_13d56b0a97b8c1e25fdd3b10eef3c2ad3" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>Kalman</name></member>
+      <member refid="classKalman_1ce38e31810aea4db45a83ad05eaba009" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>Kalman</name></member>
+      <member refid="classKFcondQR_13f3968f92c7bbe4b0902d5e14ecc1cb4" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>KFcondQR</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>ll</name></member>
+      <member refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>Q</name></member>
+      <member refid="classKalman_111d171dc0e0ab111c56a70f98b97b3ec" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>rv</name></member>
+      <member refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>rvc</name></member>
+      <member refid="classKalman_144a16ffd5ac1e6e39bae34fea9e1e498" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>rvu</name></member>
+      <member refid="classKalman_17501230c2fafa3655887d2da23b3184c" prot="protected" virt="non-virtual"><scope>KFcondQR</scope><name>rvy</name></member>
+      <member refid="classKalman_180bcf29466d9a9dd2b8f74699807d0c0" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>set_est</name></member>
+      <member refid="classKalman_1239b28a0380946f5749b2f8d2807f93a" prot="public" virt="non-virtual"><scope>KFcondQR</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>KFcondQR</scope><name>~BM</name></member>
+      <member refid="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" virt="virtual"><scope>KFcondQR</scope><name>~BMcond</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classDoubleUI.xml
===================================================================
--- /doc/xml/classDoubleUI.xml (revision 187)
+++ /doc/xml/classDoubleUI.xml (revision 187)
@@ -0,0 +1,385 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classDoubleUI" kind="class" prot="public">
+    <compoundname>DoubleUI</compoundname>
+    <basecompoundref refid="classValuedUserInfo" prot="public" virt="non-virtual">ValuedUserInfo&lt; double &gt;</basecompoundref>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classDoubleUI_1d92567ebfd8d45d231374f35a20580b7" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>double *</type>
+        <definition>double* DoubleUI::AssemblyInstance</definition>
+        <argsstring>()</argsstring>
+        <name>AssemblyInstance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="679" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="678" bodyend="681"/>
+      </memberdef>
+      <memberdef kind="function" id="classDoubleUI_104b397872583993965694bf0ce89dd3d" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool DoubleUI::DisassemblyInstance</definition>
+        <argsstring>(double &amp;instance)</argsstring>
+        <name>DisassemblyInstance</name>
+        <param>
+          <type>double &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="684" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="683" bodyend="689"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classDoubleUI_1328cf702d21de8aeeded794406bdfdf7" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>DoubleUI::DoubleUI</definition>
+        <argsstring>()</argsstring>
+        <name>DoubleUI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="693" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="692" bodyend="694"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" static="no" mutable="no">
+        <type>string</type>
+        <definition>string ValuedUserInfo&lt; double  &gt;::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+<para>string variable which is automatically binded to a proper DOMElement attribute </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="552" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="552" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; double &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt; double &gt; &amp; TypedUserInfo&lt; double &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <initializer> DoubleUI()</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="808">
+        <label>DoubleUI</label>
+        <childnode refid="809" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="813">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="811" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="814">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="813" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="810">
+        <label>TypedUserInfo&lt; double &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="811" relation="public-inheritance">
+        </childnode>
+        <childnode refid="813" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="811">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="812" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="809">
+        <label>ValuedUserInfo&lt; double &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="810" relation="public-inheritance">
+        </childnode>
+        <childnode refid="814" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="812">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="815">
+        <label>DoubleUI</label>
+        <childnode refid="816" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="820">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="822">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="818" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="821">
+        <label>string</label>
+      </node>
+      <node id="823">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="822" relation="public-inheritance">
+        </childnode>
+        <childnode refid="821" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+      </node>
+      <node id="817">
+        <label>TypedUserInfo&lt; double &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="818" relation="public-inheritance">
+        </childnode>
+        <childnode refid="817" relation="usage">
+          <edgelabel>instance</edgelabel>
+        </childnode>
+        <childnode refid="822" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="818">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="819" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="821" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="816">
+        <label>ValuedUserInfo&lt; double &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="817" relation="public-inheritance">
+        </childnode>
+        <childnode refid="821" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+        <childnode refid="823" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="819">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="820" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="675" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="674" bodyend="695"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>DoubleUI</scope><name>Assembly</name></member>
+      <member refid="classDoubleUI_1d92567ebfd8d45d231374f35a20580b7" prot="private" virt="non-virtual"><scope>DoubleUI</scope><name>AssemblyInstance</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>BindingFrame</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>DoubleUI</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>DoubleUI</scope><name>Disassembly</name></member>
+      <member refid="classDoubleUI_104b397872583993965694bf0ce89dd3d" prot="private" virt="non-virtual"><scope>DoubleUI</scope><name>DisassemblyInstance</name></member>
+      <member refid="classDoubleUI_1328cf702d21de8aeeded794406bdfdf7" prot="public" virt="non-virtual"><scope>DoubleUI</scope><name>DoubleUI</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>instance</name></member>
+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="protected" virt="virtual"><scope>DoubleUI</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>UserInfo</name></member>
+      <member refid="classValuedUserInfo_110a0acb3696018386451881ebcc797ea" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>value</name></member>
+      <member refid="classValuedUserInfo_186897fcfe4666183bcecf16a23715cdb" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>ValuedUserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>XMLCh2str</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>~TypedUserInfo</name></member>
+      <member refid="classValuedUserInfo_14c37684500f88a6d7d8d06b73ab5267a" prot="protected" virt="non-virtual"><scope>DoubleUI</scope><name>~ValuedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classeprod.xml
===================================================================
--- /doc/xml/classeprod.xml (revision 187)
+++ /doc/xml/classeprod.xml (revision 187)
@@ -0,0 +1,277 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classeprod" kind="class" prot="public">
+    <compoundname>eprod</compoundname>
+    <basecompoundref refid="classepdf" prot="public" virt="non-virtual">epdf</basecompoundref>
+    <includes refid="emix_8h" local="no">emix.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classeprod_15307a27aaf48be8213294b05ac533c39" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classepdf" kindref="compound">epdf</ref> * &gt;</type>
+        <definition>Array&lt;epdf*&gt; eprod::epdfs</definition>
+        <argsstring></argsstring>
+        <name>epdfs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="76" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="76" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classeprod_1a4387c81276ca66c1ca9336cf8bf74a8" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classmpdf" kindref="compound">mpdf</ref> * &gt;</type>
+        <definition>Array&lt;mpdf*&gt; eprod::mpdfs</definition>
+        <argsstring></argsstring>
+        <name>mpdfs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="77" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classeprod_168b66b05b3b6987472247f541846a366" prot="protected" static="no" mutable="no">
+        <type>ivec</type>
+        <definition>ivec eprod::sizes</definition>
+        <argsstring></argsstring>
+        <name>sizes</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="78" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="78" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="123" bodyend="-1"/>
+        <referencedby refid="classepdf_1b89143f12c9b49282e30841e4fb5f337" compoundref="libBM_8h" startline="149" endline="149">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="338" endline="342">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="46" endline="51">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="74" endline="78">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classeprod_16c76cb1658c345cc30374c340608006c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>eprod::eprod</definition>
+        <argsstring>(Array&lt; epdf &gt; Facs)</argsstring>
+        <name>eprod</name>
+        <param>
+          <type>Array&lt; <ref refid="classepdf" kindref="compound">epdf</ref> &gt;</type>
+          <declname>Facs</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="80" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="80" bodyend="82"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_18019654e494bf5e458f6fb947e11b262" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>vec</type>
+        <definition>virtual vec epdf::sample</definition>
+        <argsstring>() const =0</argsstring>
+        <name>sample</name>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classeEmp_183f9283f92b805508d896479dc1ccf12">sample</reimplementedby>
+        <reimplementedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd">sample</reimplementedby>
+        <reimplementedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425">sample</reimplementedby>
+        <reimplementedby refid="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f">sample</reimplementedby>
+        <reimplementedby refid="classenorm_160b47544f6181ffd4530d3e415ce12c5">sample</reimplementedby>
+        <reimplementedby refid="classemix_10650601f24e633e0ab09aa1e46c14483">sample</reimplementedby>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="134"/>
+        <referencedby refid="classmpdf_1b0193a350c97933ddf15b15a130da352" compoundref="libBM_8h" startline="169" endline="171">mpdf::samplecond</referencedby>
+        <referencedby refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">PF::set_est</referencedby>
+        <referencedby refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" compoundref="libEF_8cpp" startline="223" endline="231">eEmp::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="136" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="74" bodyend="78"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="57" endline="57">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="123">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="138"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="183" endline="183">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_16aef3eca74899692503769c18add1a4c" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>double</type>
+        <definition>virtual double epdf::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const =0</argsstring>
+        <name>evalpdflog</name>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classeEmp_123e7358995400865ad2e278945922fb3">evalpdflog</reimplementedby>
+        <reimplementedby refid="classeuni_106af95d514a6623ad4688bd2ad50ad71">evalpdflog</reimplementedby>
+        <reimplementedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef">evalpdflog</reimplementedby>
+        <reimplementedby refid="classegiw_1425cbc53b377274e28c6add942bab62d">evalpdflog</reimplementedby>
+        <reimplementedby refid="classenorm_1609a7c33dbb4fdfab050f3bdd1122401">evalpdflog</reimplementedby>
+        <reimplementedby refid="classemix_1469e910479b3402589104ef3bb1b5741">evalpdflog</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute log-probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="141"/>
+        <referencedby refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="138" endline="138">epdf::eval</referencedby>
+        <referencedby refid="classmpdf_1b0193a350c97933ddf15b15a130da352" compoundref="libBM_8h" startline="169" endline="171">mpdf::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_1bf0a070a8f3e67a93604ca724638b870" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
+        <type>vec</type>
+        <definition>virtual vec epdf::mean</definition>
+        <argsstring>() const =0</argsstring>
+        <name>mean</name>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d">mean</reimplementedby>
+        <reimplementedby refid="classeuni_18050087e421a9cfd1b4b1f8bd33b1cc1">mean</reimplementedby>
+        <reimplementedby refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a">mean</reimplementedby>
+        <reimplementedby refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29">mean</reimplementedby>
+        <reimplementedby refid="classenorm_150fa84da7bae02f7af17a98f37566899">mean</reimplementedby>
+        <reimplementedby refid="classemix_1b662a51d042b062020460e64bff4e9e8">mean</reimplementedby>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="144"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_1b89143f12c9b49282e30841e4fb5f337" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="149" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="149" bodyend="149"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="123">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Chain rule decomposition of <ref refid="classepdf" kindref="compound">epdf</ref>. </para>    </briefdescription>
+    <detaileddescription>
+<para>Probability density in the form of Chain-rule decomposition: \[ f(x_1,x_2,x_3) = f(x_1|x_2,x_3)f(x_2,x_3)f(x_3) \] Note that </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="870">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="869">
+        <label>eprod</label>
+        <link refid="classeprod"/>
+        <childnode refid="870" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="872">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="873" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="873">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="871">
+        <label>eprod</label>
+        <link refid="classeprod"/>
+        <childnode refid="872" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="74" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="73" bodyend="84"/>
+    <listofallmembers>
+      <member refid="classepdf_1b89143f12c9b49282e30841e4fb5f337" prot="public" virt="non-virtual"><scope>eprod</scope><name>_rv</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>eprod</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>eprod</scope><name>epdf</name></member>
+      <member refid="classeprod_15307a27aaf48be8213294b05ac533c39" prot="protected" virt="non-virtual"><scope>eprod</scope><name>epdfs</name></member>
+      <member refid="classeprod_16c76cb1658c345cc30374c340608006c" prot="public" virt="non-virtual"><scope>eprod</scope><name>eprod</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>eprod</scope><name>eval</name></member>
+      <member refid="classepdf_16aef3eca74899692503769c18add1a4c" prot="public" virt="pure-virtual"><scope>eprod</scope><name>evalpdflog</name></member>
+      <member refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" prot="public" virt="pure-virtual"><scope>eprod</scope><name>mean</name></member>
+      <member refid="classeprod_1a4387c81276ca66c1ca9336cf8bf74a8" prot="protected" virt="non-virtual"><scope>eprod</scope><name>mpdfs</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>eprod</scope><name>rv</name></member>
+      <member refid="classepdf_18019654e494bf5e458f6fb947e11b262" prot="public" virt="pure-virtual"><scope>eprod</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>eprod</scope><name>sampleN</name></member>
+      <member refid="classeprod_168b66b05b3b6987472247f541846a366" prot="protected" virt="non-virtual"><scope>eprod</scope><name>sizes</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>eprod</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testKF__QRexh_8cpp.xml
===================================================================
--- /doc/xml/testKF__QRexh_8cpp.xml (revision 187)
+++ /doc/xml/testKF__QRexh_8cpp.xml (revision 187)
@@ -0,0 +1,198 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testKF__QRexh_8cpp" kind="file">
+    <compoundname>testKF_QRexh.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <incdepgraph>
+      <node id="889">
+        <label>work/git/mixpp/tests/testKF_QRexh.cpp</label>
+        <link refid="testKF_QRexh.cpp"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+        <childnode refid="891" relation="include">
+        </childnode>
+        <childnode refid="898" relation="include">
+        </childnode>
+      </node>
+      <node id="893">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+      </node>
+      <node id="896">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+      </node>
+      <node id="894">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+        <childnode refid="895" relation="include">
+        </childnode>
+        <childnode refid="893" relation="include">
+        </childnode>
+        <childnode refid="896" relation="include">
+        </childnode>
+      </node>
+      <node id="898">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+        <childnode refid="894" relation="include">
+        </childnode>
+        <childnode refid="895" relation="include">
+        </childnode>
+      </node>
+      <node id="892">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+        <childnode refid="893" relation="include">
+        </childnode>
+      </node>
+      <node id="890">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="897">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+        <childnode refid="895" relation="include">
+        </childnode>
+        <childnode refid="896" relation="include">
+        </childnode>
+      </node>
+      <node id="891">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+        <childnode refid="892" relation="include">
+        </childnode>
+        <childnode refid="894" relation="include">
+        </childnode>
+        <childnode refid="897" relation="include">
+        </childnode>
+      </node>
+      <node id="895">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="890" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testKF__QRexh_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testKF_QRexh.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/testKF_QRexh.cpp" bodystart="11" bodyend="82"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Klaman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A,<sp/>B,C,D,R,Q,P0;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Mu0;</highlight><highlight class="comment">//<sp/>read<sp/>from<sp/>matlab</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>input<sp/>from<sp/>Matlab</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fin<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;testKF.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Dt,<sp/>XQRt,eR,eQ;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>xxx=<sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;d&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>!xxx<sp/>)<sp/>{<sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;testKF.it<sp/>not<sp/>found&quot;</highlight><highlight class="normal"><sp/>);}</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;Dt;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;A&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>A;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;B&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>B;</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;C&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>C;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;D&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>D;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;R&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>R;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Q&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>Q;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;P0&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>P0;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;mu0&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>Mu0;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu0=Mu0.get_col<sp/>(<sp/>0<sp/>);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vQ1<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;0.01:0.04:1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vQ2<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;0.01:0.04:1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>LL<sp/>=<sp/>zeros<sp/>(<sp/>vQ1.length(),<sp/><sp/>vQ2.length()<sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ndat<sp/>=<sp/>Dt.cols();</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{x}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{u}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{y}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman&lt;ldmat&gt;</ref><sp/>KFtr<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>=0;<sp/>i&lt;vQ1.length();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>j<sp/>=<sp/>0;<sp/>j&lt;vQ2.length();j++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>KF<sp/>with<sp/>R<sp/>unknown</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Qj<sp/>=<sp/>Q;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Qj<sp/>(<sp/>0,0<sp/>)<sp/>=<sp/>vQ1<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Qj<sp/>(<sp/>1,1<sp/>)<sp/>=<sp/>vQ2<sp/>(<sp/>j<sp/>);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFtr.set_parameters<sp/>(<sp/>A,B,C,D,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>(<sp/>R<sp/>),<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>(<sp/>Qj<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFtr.set_est<sp/>(<sp/>mu0,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>(<sp/>P0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFtr.bayes<sp/>(<sp/>Dt.get_col<sp/>(<sp/>t<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>LL<sp/>(<sp/>i,j<sp/>)<sp/>+=<sp/>KFtr._ll();</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;testKF_QR_exh.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;LL&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>LL;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Q1&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>vQ1;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Q2&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>vQ2;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testKF_QRexh.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/ekf__example_2regulace_8cpp.xml
===================================================================
--- /doc/xml/ekf__example_2regulace_8cpp.xml (revision 187)
+++ /doc/xml/ekf__example_2regulace_8cpp.xml (revision 187)
@@ -0,0 +1,1152 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="ekf__example_2regulace_8cpp" kind="file">
+    <compoundname>regulace.cpp</compoundname>
+    <includes local="no">math.h</includes>
+    <includes refid="ekf__example_2nastaveni__regulatoru__float_8h" local="yes">nastaveni_regulatoru_float.h</includes>
+    <includes refid="ekf__example_2regulace_8h" local="yes">regulace.h</includes>
+    <incdepgraph>
+      <node id="782">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp</label>
+        <link refid="ekf_example/regulace.cpp"/>
+        <childnode refid="783" relation="include">
+        </childnode>
+        <childnode refid="784" relation="include">
+        </childnode>
+        <childnode refid="785" relation="include">
+        </childnode>
+      </node>
+      <node id="783">
+        <label>math.h</label>
+      </node>
+      <node id="785">
+        <label>regulace.h</label>
+        <link refid="ekf__example_2regulace_8h-source"/>
+      </node>
+      <node id="784">
+        <label>nastaveni_regulatoru_float.h</label>
+        <link refid="ekf__example_2nastaveni__regulatoru__float_8h-source"/>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="ekf__example_2regulace_8cpp_1525335710b53cb064ca56b936120431e" prot="public" static="no">
+        <name>_USE_MATH_DEFINES</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="15" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="ekf__example_2regulace_8cpp_13176dc16728690b7f1c59d9916369e8a" prot="public" static="no">
+        <name>MINud</name>
+        <initializer>(-600.)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h" bodystart="65" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1d326b4d3473dcc30a7320073b1a86411" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double ud</definition>
+        <argsstring></argsstring>
+        <name>ud</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_174352e2af5ca7b52f4e791577b424c37" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double uq</definition>
+        <argsstring></argsstring>
+        <name>uq</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_12c34e6d1341d3ee390071ecaf9411914" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double alfa</definition>
+        <argsstring></argsstring>
+        <name>alfa</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_19424343761f8c4f4c1afe8f5b6bf471b" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double beta</definition>
+        <argsstring></argsstring>
+        <name>beta</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1a6543b2bc53bf16c6be8dbdfa0c5137c" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Sid</definition>
+        <argsstring></argsstring>
+        <name>Sid</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1738b424830c2456934492c1f1ebf8248" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Siq</definition>
+        <argsstring></argsstring>
+        <name>Siq</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_155885ac468775a6ca90a0f4264404729" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Surm</definition>
+        <argsstring></argsstring>
+        <name>Surm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_172ef72447ed7d41c6029759988e42dc6" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Kiqmax</definition>
+        <argsstring></argsstring>
+        <name>Kiqmax</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="36" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="36" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_102eeeeb5f00d724a3c82fb1d4ef8e8ed" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Iqwmax</definition>
+        <argsstring></argsstring>
+        <name>Iqwmax</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="36" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="36" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1d086f926f71e503743270604a5347508" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Iqw_reg</definition>
+        <argsstring></argsstring>
+        <name>Iqw_reg</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="36" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="36" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_151a59ff927f4ff0f0676c12e5c894a79" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Idw_urm</definition>
+        <argsstring></argsstring>
+        <name>Idw_urm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="37" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="37" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_14024474a995bfe339bee8cb04778b27b" prot="public" static="yes" mutable="no">
+        <type>double</type>
+        <definition>double Idw_reg</definition>
+        <argsstring></argsstring>
+        <name>Idw_reg</name>
+        <briefdescription>
+        </briefdescription>
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+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="112" bodyend="165"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2regulace_8cpp_171d09500b31dfce56234053b946cbf34" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void vektor_regulace</definition>
+        <argsstring>(double Idw, double Iqw, double Urm_max, double Ww, double *u, double Isx, double Isy, double theta, double rychlost, double Ucn_2, double Uc, double Ucn, unsigned int rezim)</argsstring>
+        <name>vektor_regulace</name>
+        <param>
+          <type>double</type>
+          <declname>Idw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Iqw</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Urm_max</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ww</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>u</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isx</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Isy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>theta</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>rychlost</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn_2</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Uc</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Ucn</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>rezim</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="23"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2regulace_8cpp_11531262dc8e2967f7f7fbe649b632e8b" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void reset_regulatoru</definition>
+        <argsstring>(void)</argsstring>
+        <name>reset_regulatoru</name>
+        <param>
+          <type>void</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="372" bodyend="377"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2regulace_8cpp_1154c64d72d9a6e1e1d5621c6561372eb" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double pi_reg</definition>
+        <argsstring>(double epsilon, double Kpf, double Kif, double MAX, double MIN, double *S)</argsstring>
+        <name>pi_reg</name>
+        <param>
+          <type>double</type>
+          <declname>epsilon</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Kpf</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Kif</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>MAX</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>MIN</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>S</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="88" bodyend="99"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2regulace_8cpp_1d52cd3d5f2f7c2561b9d318c3d9e66a8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double uhel</definition>
+        <argsstring>(double x, double y)</argsstring>
+        <name>uhel</name>
+        <param>
+          <type>double</type>
+          <declname>x</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>y</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="71" bodyend="85"/>
+      </memberdef>
+      <memberdef kind="function" id="ekf__example_2regulace_8cpp_1355f57120e187949afdadc570d5c5bd6" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void filtr</definition>
+        <argsstring>(double U, double *Uf, double kt)</argsstring>
+        <name>filtr</name>
+        <param>
+          <type>double</type>
+          <declname>U</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Uf</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>kt</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="101" bodyend="107"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*********************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vektorove<sp/>rizeni</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>regulacni<sp/>struktura<sp/>-<sp/>plovouci<sp/>radova<sp/>carka</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">5.6.2007<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Doplnen<sp/>vypocet<sp/>uhlu<sp/>beta,<sp/>ktery<sp/>doplnuje<sp/>regulator<sp/>Isq</highlight></codeline>
+<codeline lineno="12"><highlight class="comment"></highlight></codeline>
+<codeline lineno="13"><highlight class="comment">**********************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
+<codeline lineno="16"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;nastaveni_regulatoru_float.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;regulace.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//void<sp/>vektor_regulace(double<sp/>Idw,<sp/>double<sp/>Iqw,<sp/>double<sp/>Urm_max,<sp/>double<sp/>Ww,<sp/>double<sp/>*u,<sp/>double<sp/>Isx,<sp/>double<sp/>Isy,<sp/>double<sp/>theta,<sp/>double<sp/>rychlost,<sp/>double<sp/>Ucn_2,<sp/>unsigned<sp/>int<sp/>rezim);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>reset_regulatoru(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt);</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulatory<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ud,<sp/>uq,<sp/>alfa,<sp/>beta;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sid,<sp/>Siq,<sp/>Surm;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kiqmax,<sp/>Iqwmax,<sp/>Iqw_reg;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw_urm,<sp/>Idw_reg;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sw,<sp/>MAXw_lim;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>Urmf;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight><highlight class="comment">//<sp/>odvazbovaci<sp/>obvod<sp/>-<sp/>blok<sp/>vypocet<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kodv_ud,<sp/>Kodv_uind;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isd,<sp/>Isq,<sp/>Fs,<sp/>Fmag,<sp/>moment,<sp/>K_Fs,<sp/>K_moment;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ismaxf2,<sp/>tmp_omezeni;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_regulace[10];</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Treg;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>start_reg;</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucf,<sp/>Isdf,<sp/>Ukomp;</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>zbeta,<sp/>zbeta_vyp,<sp/>zbetaw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zatezny<sp/>uhel<sp/>vyhodnoceny<sp/>z<sp/>polohy<sp/>pozadovaneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ALGORITMUS;</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isq<sp/>pres<sp/>zatezny<sp/>uhel</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sbeta;</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isd<sp/>-<sp/>kompenzace<sp/>vypocteneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>SUkomp;</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pomocne<sp/>promenne</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>blokace_beta=0;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y)</highlight></codeline>
+<codeline lineno="72"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x==0)</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y==0)<sp/>th=0.;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y&gt;0)<sp/>th=M_PI/2.;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>th=-M_PI/2.;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/>th=atan(y/x);</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&lt;0)<sp/>th+=M_PI;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S)</highlight></codeline>
+<codeline lineno="89"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/>out=Kpf*epsilon+*S;</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&gt;MAX)<sp/>out=MAX;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&lt;MIN)<sp/>out=MIN;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/>*S+=Kif*epsilon;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
+<codeline lineno="99"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt)</highlight></codeline>
+<codeline lineno="102"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ufpom;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/>Ufpom=*Uf;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/>*Uf=Ufpom+kt*(U-*Uf);</highlight></codeline>
+<codeline lineno="107"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"></highlight></codeline>
+<codeline lineno="111"><highlight class="normal"></highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV)</highlight></codeline>
+<codeline lineno="113"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpd;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pomocna<sp/>velicina</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,<sp/>Ls,<sp/>kp,<sp/>p;</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>parametry<sp/>pro<sp/>odvazbeni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/>Rs=*(param+0);</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/>Ls=*(param+1);</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/>Fmag=*(param+2);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/>kp=*(param+5);</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/>p=*(param+4);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vyhodit<sp/>az<sp/>sem<sp/>v<sp/>DSP<sp/>////////////////////</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="124"><highlight class="normal"></highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/>Sid=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/>Siq=0;</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"></highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>odbuzovani</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Kpd=Kpurm*2.0/Iref;<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>2.0,<sp/>protoze<sp/>Urm<sp/>je<sp/>ladeno<sp/>v<sp/>pomernych<sp/>hodnotach<sp/>Um*2/Ucn<sp/>a<sp/>tady<sp/>je<sp/>to<sp/>vztazeno<sp/>na<sp/>Ucn</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Kiurmf=prevod((Kpd*TV/Tiurm),Q_Kiurm);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Kt_urm=prevod(TV/Tfurm,Q_Kturm);<sp/><sp/><sp/>//<sp/>casova<sp/>konstanta<sp/>filtru<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/>Surm=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/>Urmf=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>filtrovane<sp/>napeti<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu<sp/>kvuli<sp/>momentu<sp/>zvratu<sp/>-<sp/>omezeni<sp/>pomoci<sp/>frmax</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/>Ismaxf2=Ismax*Ismax;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>blok<sp/>VYPOCET<sp/>NAPETI</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/>Kodv_ud=Ls;</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/>Kodv_uind=Fmag;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/>Sw=0;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>modelu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/>K_Fs=Ls;</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/>K_moment=kp*p*Fmag;</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/>Treg=TV;</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>pocatecni<sp/>ALGORITMUS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/>ALGORITMUS=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>implicitne<sp/>se<sp/>pouzije<sp/>klasicke<sp/>vektorove<sp/>rizeni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>Isq<sp/>prostrednictvim<sp/>beta</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/>zbeta=0.;</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/>Sbeta=0.;</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>Isd<sp/>-<sp/>kompenzace<sp/>vypocteneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/>SUkomp=0.;</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>start<sp/>regulace</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/>start_reg=1;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>indikace<sp/>1.<sp/>pruchodu<sp/>regulacni<sp/>smyckou<sp/>kvuli<sp/>nastaveni<sp/>spravnych<sp/>hodnot<sp/>filtru<sp/>Uc<sp/>a<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight></codeline>
+<codeline lineno="167"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim)</highlight></codeline>
+<codeline lineno="168"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/>Isd=Isx*cos(theta)+Isy*sin(theta);</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/>Isq=Isy*cos(theta)-Isx*sin(theta);</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"></highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>filtrace<sp/>napeti<sp/>ss<sp/>obvodu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(start_reg==1)</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/>{<sp/></highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/>Ucf=Uc;</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/>Isdf=Isd;</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/>start_reg=0;</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/>filtr(Uc,&amp;Ucf,Treg/Tfuc);</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/>filtr(Isd,&amp;Isdf,Treg/Tfid);</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/>}<sp/></highlight></codeline>
+<codeline lineno="185"><highlight class="normal"></highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vyber<sp/>varianty<sp/>regulace</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(rychlost)&gt;prechod_1_2)<sp/>ALGORITMUS=1;<sp/></highlight><highlight class="comment">//<sp/>prechod<sp/>z<sp/>algoritmu<sp/>1<sp/>na<sp/>2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(rychlost)&lt;prechod_2_1)<sp/>ALGORITMUS=0;<sp/></highlight><highlight class="comment">//<sp/>prechod<sp/>z<sp/>algortimu<sp/>2<sp/>na<sp/>1</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/>ALGORITMUS=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>provozovana<sp/>pouze<sp/>definovana<sp/>varianta<sp/>algoritmu<sp/>rizeni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="190"><highlight class="normal"></highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw,-MAXw,&amp;Sw);</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==0)</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zkouska<sp/>max.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="196"><highlight class="normal"></highlight></codeline>
+<codeline lineno="198"><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ALGORITMUS==0)<sp/></highlight></codeline>
+<codeline lineno="199"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Regulator<sp/>odbuzovani</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/>Idw_urm=pi_reg(Urm_max-Urmf,Kpurm,Kpurm*Treg/Tiurm,0.,MINurm,&amp;Surm);</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"></highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>proudu<sp/>Id,<sp/>Iq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="204"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Idw_urm<sp/>=<sp/>Idw;<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazena<sp/>regulace<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Idw_urm=0;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/>ud=pi_reg(Idw_urm-Isd,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Sid);</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"></highlight></codeline>
+<codeline lineno="208"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>max.<sp/>momentu<sp/>(resp.<sp/>max.<sp/>Iqw)<sp/>s<sp/>ohledem<sp/>na<sp/>max.<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/>tmp_omezeni=Ismaxf2-Idw_urm*Idw_urm;</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_omezeni&lt;0)<sp/>Iqwmax=0;</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>Iqwmax=sqrt(tmp_omezeni);</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(MAXw&gt;Iqwmax)<sp/>MAXw_lim=Iqwmax;</highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>MAXw_lim=MAXw;</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"></highlight></codeline>
+<codeline lineno="214"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="215"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw_lim,-MAXw_lim,&amp;Sw);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="216"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>if<sp/>(rezim==0)</highlight></codeline>
+<codeline lineno="217"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight></codeline>
+<codeline lineno="218"><highlight class="comment"><sp/><sp/>if<sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>zkouska<sp/>max.<sp/>momentu</highlight></codeline>
+<codeline lineno="219"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight></codeline>
+<codeline lineno="220"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;Iqwmax)<sp/>Iqw_reg=Iqwmax;</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&lt;-Iqwmax)<sp/>Iqw_reg=-Iqwmax;</highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/>uq=pi_reg(Iqw_reg-Isq,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Siq);</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"></highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/>ud-=Kodv_ud*rychlost*Iqw_reg;</highlight></codeline>
+<codeline lineno="227"><highlight class="normal"><sp/><sp/>uq+=Kodv_ud*rychlost*Idw_urm+Kodv_uind*rychlost;</highlight></codeline>
+<codeline lineno="228"><highlight class="normal"></highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>-<sp/>saturace<sp/>napeti<sp/>-<sp/>stejne<sp/>omezeni<sp/>jako<sp/>u<sp/>reg.<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="230"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&gt;MAXi)<sp/>ud=MAXi;</highlight></codeline>
+<codeline lineno="231"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&lt;-MAXi)<sp/>ud=-MAXi;</highlight></codeline>
+<codeline lineno="232"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&gt;MAXi)<sp/>uq=MAXi;</highlight></codeline>
+<codeline lineno="233"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&lt;-MAXi)<sp/>uq=-MAXi;</highlight></codeline>
+<codeline lineno="234"><highlight class="normal"></highlight></codeline>
+<codeline lineno="236"><highlight class="normal"></highlight></codeline>
+<codeline lineno="237"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>a<sp/>poloha<sp/>vektoru<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/>Um=sqrt(ud*ud+uq*uq);</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"><sp/><sp/>alfa=uhel(ud,uq);</highlight></codeline>
+<codeline lineno="240"><highlight class="normal"></highlight></codeline>
+<codeline lineno="241"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>zatezneho<sp/>uhlu<sp/>z<sp/>pozadovaneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="242"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&gt;=0)</highlight></codeline>
+<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=alfa-M_PI/2.;</highlight></codeline>
+<codeline lineno="244"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="245"><highlight class="normal"><sp/><sp/>{<sp/>zbetaw=alfa+M_PI/2.;</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&lt;0)<sp/>zbetaw-=2.*M_PI;</highlight></codeline>
+<codeline lineno="247"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="248"><highlight class="normal"></highlight></codeline>
+<codeline lineno="249"><highlight class="normal"><sp/><sp/>Sbeta=zbetaw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>inicializace<sp/>regulatoru<sp/>Isq<sp/>prostednictvim<sp/>beta<sp/>-<sp/>sumace<sp/>pri<sp/>prepnuti<sp/>nastavena<sp/>na<sp/>aktualni<sp/>hodnotu<sp/>zatezneho<sp/>uhlu!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="250"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="252"><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>(ALGORITMUS<sp/>==<sp/>1)<sp/><sp/><sp/><sp/>...<sp/>regulace<sp/>zatezneho<sp/>uhlu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="253"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>max.<sp/>momentu<sp/>(resp.<sp/>max.<sp/>Iqw)<sp/>s<sp/>ohledem<sp/>na<sp/>max.<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="256"><highlight class="normal"><sp/><sp/>tmp_omezeni=Ismaxf2-Isdf*Isdf;</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_omezeni&lt;0)<sp/>Iqwmax=0;</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>Iqwmax=sqrt(tmp_omezeni);</highlight></codeline>
+<codeline lineno="259"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(MAXw&gt;Iqwmax)<sp/>MAXw_lim=Iqwmax;</highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>MAXw_lim=MAXw;</highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="261"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="262"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw_lim,-MAXw_lim,&amp;Sw);</highlight></codeline>
+<codeline lineno="263"><highlight class="comment"><sp/><sp/>if<sp/>(rezim==0)</highlight></codeline>
+<codeline lineno="264"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight></codeline>
+<codeline lineno="265"><highlight class="comment"><sp/><sp/>if<sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>zkouska<sp/>max.<sp/>momentu</highlight></codeline>
+<codeline lineno="266"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight></codeline>
+<codeline lineno="267"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="268"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;Iqwmax)<sp/>Iqw_reg=Iqwmax;</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&lt;-Iqwmax)<sp/>Iqw_reg=-Iqwmax;</highlight></codeline>
+<codeline lineno="270"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="271"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>bez<sp/>omezovani<sp/>Isqw</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="272"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>Isq<sp/>prostrednictvim<sp/>zatezneho<sp/>uhlu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="273"><highlight class="normal"><sp/><sp/>zbeta=pi_reg(Iqw_reg-Isq,Kpib,Kpib*Treg/Tiib,MAXbeta,-MAXbeta,&amp;Sbeta);</highlight></codeline>
+<codeline lineno="274"><highlight class="normal"></highlight></codeline>
+<codeline lineno="275"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>test<sp/>upravy<sp/>signalu<sp/>beta</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="276"><highlight class="normal"></highlight><highlight class="comment">//if<sp/>((zbeta&gt;73./180.*M_PI)||(blokace_beta==1))<sp/>{zbeta=80./180.*M_PI;<sp/>blokace_beta=1;}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="277"><highlight class="normal"></highlight></codeline>
+<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>napeti<sp/>-<sp/>jednoducha<sp/>varianta<sp/>bez<sp/>uvazovani<sp/>odbuzeni</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="279"><highlight class="normal"><sp/><sp/>Um=sqrt(Kodv_uind*Kodv_uind*rychlost*rychlost+Kodv_ud*Kodv_ud*rychlost*rychlost*Iqw_reg*Iqw_reg);<sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rychlost<sp/>musi<sp/>byt<sp/>v<sp/>kvadratu,<sp/>aby<sp/>se<sp/>eliminoval<sp/>vliv<sp/>znamenka<sp/>rychlosti<sp/>-<sp/>Um<sp/>musi<sp/>byt<sp/>&gt;=0!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="280"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Um=rychlost*sqrt(Kodv_uind*Kodv_uind+Kodv_ud*Kodv_ud*Iqw*Iqw);<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>neni<sp/>uvazovano<sp/>omezeni<sp/>Isqw</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="281"><highlight class="normal"></highlight></codeline>
+<codeline lineno="282"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vylepseny<sp/>vypocet<sp/>napeti<sp/>-<sp/>odvazbovaci<sp/>obvod</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="283"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>ud=Kodv_ud*rychlost*Iqw_reg;</highlight></codeline>
+<codeline lineno="284"><highlight class="comment"><sp/><sp/>uq=Kodv_ud*rychlost*Isdf+Kodv_uind*rychlost;</highlight></codeline>
+<codeline lineno="285"><highlight class="comment"><sp/><sp/>Um=sqrt(ud*ud+uq*uq);</highlight></codeline>
+<codeline lineno="286"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="287"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="288"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>korece<sp/>napeti<sp/>pomoci<sp/>regulatoru<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="289"><highlight class="normal"><sp/><sp/>Ukomp=pi_reg(0.-Isd,0,1.*Treg/Tiidb,MAXud,MINud,&amp;SUkomp);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>do<sp/>zaporu<sp/>neomezovat!!!<sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="290"><highlight class="normal"><sp/><sp/>Um+=Ukomp;</highlight></codeline>
+<codeline lineno="291"><highlight class="normal"></highlight></codeline>
+<codeline lineno="292"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>zahrnuti<sp/>vlivu<sp/>skutecneho<sp/>napeti<sp/>Uc</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="293"><highlight class="normal"><sp/><sp/>Um=Um*Ucn/Ucf;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>v<sp/>pevne<sp/>radove<sp/>carce<sp/>pak:<sp/>Um=(long)Um*Qm/Ucf;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="294"><highlight class="normal"></highlight></codeline>
+<codeline lineno="295"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>na<sp/>Urm=1</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="296"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Um&gt;Ucn_2)<sp/>Um=Ucn_2;</highlight></codeline>
+<codeline lineno="297"><highlight class="normal"></highlight></codeline>
+<codeline lineno="298"><highlight class="normal"><sp/><sp/>reset_regulatoru();<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zajistuje<sp/>pripravenost<sp/>reg.<sp/>struktury<sp/>VAR1</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="299"><highlight class="normal"></highlight></codeline>
+<codeline lineno="300"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>doplneni<sp/>vypoctu<sp/>zatezneho<sp/>uhlu<sp/>...<sp/>zbeta_vyp</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="301"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(rychlost*Kodv_ud*Iqw_reg)&gt;=Um)</highlight></codeline>
+<codeline lineno="302"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;0)</highlight></codeline>
+<codeline lineno="303"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&gt;0)<sp/>zbeta_vyp=M_PI/2.;</highlight></codeline>
+<codeline lineno="304"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>zbeta_vyp=-M_PI/2.;</highlight></codeline>
+<codeline lineno="305"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="306"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&gt;0)<sp/>zbeta_vyp=-M_PI/2.;</highlight></codeline>
+<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>zbeta_vyp=M_PI/2.;</highlight></codeline>
+<codeline lineno="308"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="309"><highlight class="normal"><sp/><sp/><sp/><sp/>zbeta_vyp=asin(rychlost*Kodv_ud*Iqw_reg/Um);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>kontrola,<sp/>zda<sp/>Kodv_ud=Ls!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="310"><highlight class="normal"></highlight></codeline>
+<codeline lineno="311"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>zbeta=0;<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazeni<sp/>reg.<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="312"><highlight class="normal"><sp/><sp/>zbeta_vyp=0;<sp/><sp/></highlight><highlight class="comment">//<sp/>vyrazeni<sp/>bloku<sp/>&quot;vypocet<sp/>zatezneho<sp/>uhlu&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="313"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>urceni<sp/>pozadovaneho<sp/>zatezneho<sp/>uhlu<sp/>a<sp/>jeho<sp/>omezeni<sp/>na<sp/>&lt;-90st;<sp/>90st.&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="314"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&lt;0)</highlight></codeline>
+<codeline lineno="315"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=-zbeta_vyp+zbeta;</highlight></codeline>
+<codeline lineno="316"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=zbeta_vyp+zbeta;</highlight></codeline>
+<codeline lineno="318"><highlight class="normal"></highlight></codeline>
+<codeline lineno="319"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zbetaw&gt;MAXbeta)</highlight></codeline>
+<codeline lineno="320"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=MAXbeta;</highlight></codeline>
+<codeline lineno="321"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zbetaw&lt;-MAXbeta)</highlight></codeline>
+<codeline lineno="322"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=-MAXbeta;<sp/></highlight></codeline>
+<codeline lineno="323"><highlight class="normal"></highlight></codeline>
+<codeline lineno="324"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>urceni<sp/>polohy<sp/>vektoru<sp/>napeti<sp/>v<sp/>souradnem<sp/>systemu<sp/>(d,q)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="325"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&lt;0)</highlight></codeline>
+<codeline lineno="326"><highlight class="normal"><sp/><sp/><sp/><sp/>alfa=zbetaw-M_PI/2.;</highlight></codeline>
+<codeline lineno="327"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="328"><highlight class="normal"><sp/><sp/><sp/><sp/>alfa=zbetaw+M_PI/2.;</highlight></codeline>
+<codeline lineno="329"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="331"><highlight class="normal"></highlight></codeline>
+<codeline lineno="332"><highlight class="normal"></highlight><highlight class="comment">//<sp/>KOD<sp/>SPOLECNY<sp/>PRO<sp/>OBE<sp/>REGULACNI<sp/>STRUKTURY</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="333"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>polohy<sp/>vektoru<sp/>napeti<sp/>ve<sp/>stojicim<sp/>souradnem<sp/>systemu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="334"><highlight class="normal"><sp/><sp/>beta=alfa+theta;</highlight></codeline>
+<codeline lineno="335"><highlight class="normal"></highlight></codeline>
+<codeline lineno="336"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Urmf<sp/>pro<sp/>dalsi<sp/>periodu<sp/>vzorkovani</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="337"><highlight class="normal"><sp/><sp/>filtr(Um/Ucn_2,&amp;Urmf,Treg/Tfurm);</highlight></codeline>
+<codeline lineno="338"><highlight class="normal"><sp/><sp/></highlight></codeline>
+<codeline lineno="339"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>velikosti<sp/>toku<sp/>a<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="340"><highlight class="normal"><sp/><sp/>Fs=Fmag+K_Fs*Isd;</highlight></codeline>
+<codeline lineno="341"><highlight class="normal"><sp/><sp/>moment=K_moment*Isq;</highlight></codeline>
+<codeline lineno="342"><highlight class="normal"></highlight></codeline>
+<codeline lineno="343"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>test<sp/>filtru<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>-<sp/>umisteni<sp/>filtru<sp/>nema<sp/>vubec<sp/>vliv<sp/>na<sp/>kvalitu<sp/>regulace<sp/>algoritmy<sp/>var.<sp/>2</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="344"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>if<sp/>(start_reg==0)</highlight></codeline>
+<codeline lineno="345"><highlight class="comment"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="346"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>filtr(Uc,&amp;Ucf,Treg/Tfuc);</highlight></codeline>
+<codeline lineno="347"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>filtr(Isd,&amp;Isdf,Treg/Tfid);</highlight></codeline>
+<codeline lineno="348"><highlight class="comment"><sp/><sp/>}<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="349"><highlight class="normal"></highlight></codeline>
+<codeline lineno="351"><highlight class="normal"></highlight></codeline>
+<codeline lineno="352"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Odblokovat<sp/>pri<sp/>pouziti<sp/>PWM_FULL_NEW()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="353"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>*u=ud*cos(theta)-uq*sin(theta);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="354"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>*(u+1)=ud*sin(theta)+uq*cos(theta);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="355"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Odblokovat<sp/>pri<sp/>pouziti<sp/>PWM_FULL_NEW_3h()</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="356"><highlight class="normal"><sp/><sp/>*u=Um;</highlight></codeline>
+<codeline lineno="357"><highlight class="normal"><sp/><sp/>*(u+1)=beta;</highlight></codeline>
+<codeline lineno="358"><highlight class="normal"></highlight></codeline>
+<codeline lineno="359"><highlight class="normal"><sp/><sp/>ladeni_regulace[0]=Idw_urm;</highlight></codeline>
+<codeline lineno="360"><highlight class="normal"><sp/><sp/>ladeni_regulace[1]=Urmf;</highlight></codeline>
+<codeline lineno="361"><highlight class="normal"><sp/><sp/>ladeni_regulace[2]=Iqw_reg;</highlight></codeline>
+<codeline lineno="362"><highlight class="normal"><sp/><sp/>ladeni_regulace[3]=Um;</highlight></codeline>
+<codeline lineno="363"><highlight class="normal"><sp/><sp/>ladeni_regulace[4]=Fs;</highlight></codeline>
+<codeline lineno="364"><highlight class="normal"><sp/><sp/>ladeni_regulace[5]=moment;</highlight></codeline>
+<codeline lineno="365"><highlight class="normal"><sp/><sp/>ladeni_regulace[6]=zbetaw;</highlight></codeline>
+<codeline lineno="366"><highlight class="normal"><sp/><sp/>ladeni_regulace[7]=Um/Ucn_2;</highlight></codeline>
+<codeline lineno="367"><highlight class="normal"><sp/><sp/>ladeni_regulace[8]=Ukomp;</highlight></codeline>
+<codeline lineno="368"><highlight class="normal"><sp/><sp/>ladeni_regulace[9]=ALGORITMUS;</highlight></codeline>
+<codeline lineno="369"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="370"><highlight class="normal"></highlight></codeline>
+<codeline lineno="371"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>reset_regulatoru(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="372"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="373"><highlight class="normal"><sp/><sp/>Surm=0;</highlight></codeline>
+<codeline lineno="374"><highlight class="normal"><sp/><sp/>Sid=0;</highlight></codeline>
+<codeline lineno="375"><highlight class="normal"><sp/><sp/>Siq=0;</highlight></codeline>
+<codeline lineno="376"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/sim__var__arx_8cpp.xml
===================================================================
--- /doc/xml/sim__var__arx_8cpp.xml (revision 187)
+++ /doc/xml/sim__var__arx_8cpp.xml (revision 187)
@@ -0,0 +1,254 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="sim__var__arx_8cpp" kind="file">
+    <compoundname>sim_var_arx.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="arx_8h" local="no">estim/arx.h</includes>
+    <includes refid="loggers_8h" local="no">stat/loggers.h</includes>
+    <incdepgraph>
+      <node id="677">
+        <label>stat/loggers.h</label>
+        <link refid="loggers_8h"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+        <childnode refid="673" relation="include">
+        </childnode>
+        <childnode refid="676" relation="include">
+        </childnode>
+      </node>
+      <node id="673">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+      </node>
+      <node id="676">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+      </node>
+      <node id="674">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+        <childnode refid="675" relation="include">
+        </childnode>
+        <childnode refid="673" relation="include">
+        </childnode>
+        <childnode refid="676" relation="include">
+        </childnode>
+      </node>
+      <node id="671">
+        <label>estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+        <childnode refid="672" relation="include">
+        </childnode>
+        <childnode refid="674" relation="include">
+        </childnode>
+      </node>
+      <node id="672">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+        <childnode refid="673" relation="include">
+        </childnode>
+      </node>
+      <node id="669">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim_var_arx.cpp"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+        <childnode refid="671" relation="include">
+        </childnode>
+        <childnode refid="677" relation="include">
+        </childnode>
+      </node>
+      <node id="670">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="675">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="670" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="sim__var__arx_8cpp_1b1fe6b48b3275ef1f646350a4fe3fc39" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec getPsi_a</definition>
+        <argsstring>(int t, mat &amp;D, mat &amp;Du, mat &amp;X)</argsstring>
+        <name>getPsi_a</name>
+        <param>
+          <type>int</type>
+          <declname>t</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>D</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>Du</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>X</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/sim_var_arx.cpp" line="20" bodyfile="/home/smidl/work/git/mixpp/pmsm/sim_var_arx.cpp" bodystart="80" bodyend="90"/>
+      </memberdef>
+      <memberdef kind="function" id="sim__var__arx_8cpp_14f3629067a336e659e88e55c7a93bc21" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec getPsi_b</definition>
+        <argsstring>(int t, mat &amp;D, mat &amp;Du, mat &amp;X)</argsstring>
+        <name>getPsi_b</name>
+        <param>
+          <type>int</type>
+          <declname>t</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>D</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>Du</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>X</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/sim_var_arx.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/sim_var_arx.cpp" bodystart="92" bodyend="102"/>
+      </memberdef>
+      <memberdef kind="function" id="sim__var__arx_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/sim_var_arx.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/sim_var_arx.cpp" bodystart="23" bodyend="78"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Models for synchronous electric drive using IT++ and BDM. </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="arx_8h" kindref="compound" tooltip="Bayesian Filtering for generalized autoregressive (ARX) model.">estim/arx.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="loggers_8h" kindref="compound" tooltip="Loggers for storing results of experiments.">stat/loggers.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal">vec<sp/>getPsi_a<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t,<sp/>mat<sp/>&amp;D,<sp/>mat<sp/>&amp;Du<sp/>,<sp/>mat<sp/>&amp;X<sp/>);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal">vec<sp/>getPsi_b<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t,<sp/>mat<sp/>&amp;D,<sp/>mat<sp/>&amp;Du<sp/>,<sp/>mat<sp/>&amp;X<sp/>);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>90000;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>D;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Du;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>X;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classdirfilelog" kindref="compound" tooltip="Logging into dirfile with buffer in memory.">dirfilelog</ref><sp/>L<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;exp/sim_var_arx&quot;</highlight><highlight class="normal">,1000<sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>itf<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;sim_var.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&gt;&gt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;D&quot;</highlight><highlight class="normal"><sp/>)<sp/>&gt;&gt;<sp/>D;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&gt;&gt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Du&quot;</highlight><highlight class="normal"><sp/>)<sp/>&gt;&gt;<sp/>Du;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&gt;&gt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;X&quot;</highlight><highlight class="normal"><sp/>)<sp/>&gt;&gt;<sp/>X;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;std::string&gt;<sp/>Names<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;{ia<sp/>ib<sp/>om<sp/>dom<sp/>r<sp/>}&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rglen<sp/>=<sp/>Names.length();</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Regressor</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rgr<sp/>(<sp/>Names<sp/>);</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0<sp/>=<sp/>0.0001*eye<sp/>(<sp/>rglen<sp/>);<sp/>V0<sp/>(<sp/>0,0<sp/>)<sp/>=200;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0<sp/>=<sp/>rglen+1;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Autoregressive<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar_a<sp/>(<sp/>rgr,V0,nu0<sp/>,0.95<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar_b<sp/>(<sp/>rgr,V0,nu0<sp/>,0.95<sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pA=<sp/>Ar_a._epdf();</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pB=<sp/>Ar_b._epdf();</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rta<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{th_a<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>rglen<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rtb<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{th_b<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>rglen<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tha_log<sp/>=<sp/>L.add<sp/>(<sp/>rta,</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>thb_log<sp/>=<sp/>L.add<sp/>(<sp/>rtb,</highlight><highlight class="stringliteral">&quot;&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.init();</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Psi<sp/>(<sp/>rglen<sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Save<sp/>(<sp/>13<sp/>);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=2;<sp/>t&lt;Ndat;<sp/>t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>=getPsi_a<sp/>(<sp/>t,<sp/>D,Du<sp/>,X<sp/>);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar_a.bayes<sp/>(<sp/>Psi<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>=getPsi_b<sp/>(<sp/>t,<sp/>D,Du<sp/>,X<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar_b.bayes<sp/>(<sp/>Psi<sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Save<sp/>=<sp/>pA.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>();</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit<sp/>(<sp/>tha_log,<sp/>Save<sp/>);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Save<sp/>=<sp/>pB.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>();</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.logit<sp/>(<sp/>thb_log,<sp/>Save<sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.step();</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>L.finalize();</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>bestind<sp/>=<sp/>Ar_a.structure_est<sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>(<sp/>rgr,V0,nu0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>bestind2<sp/>=<sp/>Ar_b.structure_est<sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>(<sp/>rgr,V0,nu0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>bestind<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>bestind2<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal">vec<sp/>getPsi_a<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t,<sp/>mat<sp/>&amp;D,<sp/>mat<sp/>&amp;Du,<sp/>mat<sp/>&amp;X<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Psi<sp/>(<sp/>5<sp/>);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>0<sp/>)<sp/>=<sp/>D<sp/>(<sp/>t,0<sp/>)-Du<sp/>(<sp/>t,0<sp/>);<sp/></highlight><highlight class="comment">//<sp/>a=0</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>1<sp/>)<sp/>=<sp/>D<sp/>(<sp/>t,2<sp/>);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>2<sp/>)<sp/>=<sp/>D(t,2)-D(t-1,2<sp/>);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>3<sp/>)<sp/>=<sp/>D(t,0)-D(t-1,0<sp/>);</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>4<sp/>)<sp/>=<sp/>X<sp/>(<sp/>t,2<sp/>)<sp/>-<sp/>X<sp/>(<sp/>t-1,2<sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>Psi;</highlight></codeline>
+<codeline lineno="90"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal">vec<sp/>getPsi_b<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t,<sp/>mat<sp/>&amp;D,<sp/>mat<sp/>&amp;Du,<sp/>mat<sp/>&amp;X<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Psi<sp/>(<sp/>5<sp/>);</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>0<sp/>)<sp/>=<sp/>D<sp/>(<sp/>t,1<sp/>)-Du<sp/>(<sp/>t,1<sp/>);<sp/></highlight><highlight class="comment">//b=1</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>1<sp/>)<sp/>=<sp/>D(t,3);</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>2<sp/>)<sp/>=<sp/>D(t,3)-D(t-1,3<sp/>);</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>3<sp/>)<sp/>=<sp/>D<sp/>(<sp/>t,1<sp/>)-D(t-1,1);</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi<sp/>(<sp/>4<sp/>)<sp/>=<sp/>X<sp/>(<sp/>t,2<sp/>)<sp/>-<sp/>X<sp/>(<sp/>t-1,2<sp/>);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>Psi;</highlight></codeline>
+<codeline lineno="102"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/sim_var_arx.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__unkQ_8cpp.xml
===================================================================
--- /doc/xml/pmsm__unkQ_8cpp.xml (revision 187)
+++ /doc/xml/pmsm__unkQ_8cpp.xml (revision 187)
@@ -0,0 +1,235 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__unkQ_8cpp" kind="file">
+    <compoundname>pmsm_unkQ.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <incdepgraph>
+      <node id="631">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+      </node>
+      <node id="637">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="630" relation="include">
+        </childnode>
+      </node>
+      <node id="634">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+      </node>
+      <node id="632">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+        <childnode refid="633" relation="include">
+        </childnode>
+        <childnode refid="631" relation="include">
+        </childnode>
+        <childnode refid="634" relation="include">
+        </childnode>
+      </node>
+      <node id="636">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+        <childnode refid="632" relation="include">
+        </childnode>
+        <childnode refid="633" relation="include">
+        </childnode>
+      </node>
+      <node id="630">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+        <childnode refid="631" relation="include">
+        </childnode>
+      </node>
+      <node id="628">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="635">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+        <childnode refid="633" relation="include">
+        </childnode>
+        <childnode refid="634" relation="include">
+        </childnode>
+      </node>
+      <node id="629">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+        <childnode refid="630" relation="include">
+        </childnode>
+        <childnode refid="632" relation="include">
+        </childnode>
+        <childnode refid="635" relation="include">
+        </childnode>
+      </node>
+      <node id="633">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+      </node>
+      <node id="627">
+        <label>work/git/mixpp/pmsm/pmsm_unkQ.cpp</label>
+        <link refid="pmsm_unkQ.cpp"/>
+        <childnode refid="628" relation="include">
+        </childnode>
+        <childnode refid="629" relation="include">
+        </childnode>
+        <childnode refid="636" relation="include">
+        </childnode>
+        <childnode refid="630" relation="include">
+        </childnode>
+        <childnode refid="637" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__unkQ_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQ.cpp" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQ.cpp" bodystart="30" bodyend="107"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="22"><highlight class="comment">//<sp/>PMSM<sp/>with<sp/>Q<sp/>on<sp/>Ia<sp/>and<sp/>Ib<sp/>given<sp/>externally</highlight></codeline>
+<codeline lineno="23"><highlight class="comment">class<sp/>EKF_unQ<sp/>:<sp/>public<sp/>EKF&lt;chmat&gt;<sp/>,<sp/>public<sp/>BMcond<sp/>{</highlight></codeline>
+<codeline lineno="24"><highlight class="comment">public:</highlight></codeline>
+<codeline lineno="25"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF_unQ(<sp/>rx,ry,ru,rQ):EKF&lt;chmat&gt;(rx,ry,ru),BMcond(rQ){};</highlight></codeline>
+<codeline lineno="26"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>void<sp/>condition(const<sp/>vec<sp/>&amp;Q0){};</highlight></codeline>
+<codeline lineno="27"><highlight class="comment">};*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>1000;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>KF;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>internal<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>20*1e-6,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>observation<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;100<sp/>100<sp/>100<sp/>1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.1<sp/>0.1<sp/>0.01<sp/>0.01&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.02<sp/>0.02&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vQ<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;0.01:0.01:100&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>KFE<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1000*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R<sp/>);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>ll(100,Ndat);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref>*<sp/>kfArray[100];</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;100;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qid<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Qid<sp/>(<sp/>0<sp/>)<sp/>=<sp/>vQ<sp/>(<sp/>i<sp/>);<sp/>Qid<sp/>(<sp/>1<sp/>)<sp/>=<sp/>vQ<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kfArray[i]=<sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kfArray[i]-&gt;<ref refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" kindref="member" tooltip="Set estimate values, used e.g. in initialization.">set_est</ref><sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1000*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kfArray[i]-&gt;<ref refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/>&amp;fxu,&amp;hxu,<ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>Qid<sp/>),R<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator<sp/>values</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>wt<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xt=mu0;</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>et<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt=zeros<sp/>(<sp/>4,Ndat<sp/>);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtE=zeros<sp/>(<sp/>4,Ndat<sp/>);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col<sp/>(<sp/>0,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>UniRNG.sample_vector<sp/>(<sp/>2,wt<sp/>);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>rem<sp/>(<sp/>t,500<sp/>)<sp/>&lt;200<sp/>)<sp/>ut<sp/>=<sp/>rem<sp/>(<sp/>t,500<sp/>)<sp/>*ones<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut=zeros<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/>4,et<sp/>);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/>2,wt<sp/>);</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xt<sp/>=<sp/>fxu.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/>xt,ut<sp/>)<sp/>+<sp/>Q.sqrt_mult<sp/>(<sp/>et<sp/>);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>=<sp/>hxu.<ref refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/>xt,ut<sp/>)<sp/>+<sp/>R.sqrt_mult<sp/>(<sp/>wt<sp/>);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;100;i++<sp/>)<sp/>{kfArray[i]-&gt;<ref refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);ll(i,t)=ll(i,t-1)<sp/>+<sp/>kfArray[i]-&gt;<ref refid="classBM_187f4a547d2c29180be88175e5eab9c88" kindref="member" tooltip="access function">_ll</ref>();</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col<sp/>(<sp/>t,xt<sp/>);</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_col<sp/>(<sp/>t,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;pmsm.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xth&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>Xt;</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xthE&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>XtE;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;ll&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>ll;</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"></highlight></codeline>
+<codeline lineno="107"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQ.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testKF_8m.xml
===================================================================
--- /doc/xml/testKF_8m.xml (revision 187)
+++ /doc/xml/testKF_8m.xml (revision 187)
@@ -0,0 +1,863 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testKF_8m" kind="file">
+    <compoundname>testKF.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="testKF_8m_113f6a085da4dc9f96af62d6144452e25" prot="public" static="no" mutable="no">
+        <type>function</type>
+        <definition>function skipgen</definition>
+        <argsstring></argsstring>
+        <name>skipgen</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="2" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="2" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_10538b636eddac504a027af045bc5f318" prot="public" static="no" mutable="no">
+        <type>end if~skipgen</type>
+        <definition>end if ~skipgen A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <initializer>[1 -0.5</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="5" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="5" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_19d3d9048db16a7eee539e93e3618cbe7" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <initializer>[1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="6" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="6" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1aa53ca0b650dfd85c4f59fa156f7a2cc" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <initializer>[1 0]</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="7" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="7" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1350bfcb1e3cfb28ddff48ce525d4f139" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <initializer>0.1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="8" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="8" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1cb95449a94688af33f6e9bb090cf2936" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <initializer>0.01</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="9" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="9" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_17e56035a736d269ad670f312496a0846" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <initializer>[0.2 0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="10" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1448a1dce4b124fb46d5d4c9f44d2fe85" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>sQ</definition>
+        <argsstring></argsstring>
+        <name>sQ</name>
+        <initializer> chol(Q)&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="12" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="12" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1579fb5335a94c0901515c2e309069727" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>sR</definition>
+        <argsstring></argsstring>
+        <name>sR</name>
+        <initializer> chol(R)&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="13" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="13" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_18cc2e7240164328fdc3f0e5e21032c56" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>N</definition>
+        <argsstring></argsstring>
+        <name>N</name>
+        <initializer>3000</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="15" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_131494d2730c7124553b8b90d48a10be2" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>mu0</definition>
+        <argsstring></argsstring>
+        <name>mu0</name>
+        <initializer> [0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="16" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="16" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1f41cd400ef5e4fa8d8c9197f185bb7e3" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>P0</definition>
+        <argsstring></argsstring>
+        <name>P0</name>
+        <initializer> 200*eye(2)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="17" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="17" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_16277e2a7446059985dc9bcf0a4ac1a8f" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>u</definition>
+        <argsstring></argsstring>
+        <name>u</name>
+        <initializer> zeros(1,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="19" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_19336ebf25087d91c818ee6e9ec29f8c1" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>x</definition>
+        <argsstring></argsstring>
+        <name>x</name>
+        <initializer> zeros(2,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="20" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="20" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_12fb1c5cf58867b5bbc9a1b145a86f3a0" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>y</definition>
+        <argsstring></argsstring>
+        <name>y</name>
+        <initializer> zeros(1,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="21" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="21" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1ca534695025d67188b30b16d0debbb71" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Et</definition>
+        <argsstring></argsstring>
+        <name>Et</name>
+        <initializer> sQ*randn(2,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="24" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="24" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1cf437e7551a2ce881d7ec2b66e46dc17" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Wt</definition>
+        <argsstring></argsstring>
+        <name>Wt</name>
+        <initializer> sR*randn(1,N)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="25" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="25" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_16f6ccfcf58b31cb6412107d9d5281426" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for i</definition>
+        <argsstring></argsstring>
+        <name>i</name>
+        <initializer>2:N</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="26" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="26" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_18f5ae177038811db9ecdc0d34cb2f619" prot="public" static="no" mutable="no">
+        <type>end</type>
+        <definition>end d</definition>
+        <argsstring></argsstring>
+        <name>d</name>
+        <initializer>[y</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="31" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="31" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_14baee84af7a92177c9064ddc2fc010ce" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>P</definition>
+        <argsstring></argsstring>
+        <name>P</name>
+        <initializer> P0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="39" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="39" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_18185cdfca13752d7643b8fcf3ff27846" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>EP</definition>
+        <argsstring></argsstring>
+        <name>EP</name>
+        <initializer> [0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="40" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="40" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_12794cf8b1ad1615d4372921e76c9cf46" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>Oxt</definition>
+        <argsstring></argsstring>
+        <name>Oxt</name>
+        <initializer> mu0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="42" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_15835855983d2d9f23222c36eeecc9511" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>OPt</definition>
+        <argsstring></argsstring>
+        <name>OPt</name>
+        <initializer> P0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="43" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="43" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1562b530cff1f5bca3b1a4c1ad4ad9962" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="44" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_19519665f55401b3018ee57e6a724355f" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>oxt</definition>
+        <argsstring></argsstring>
+        <name>oxt</name>
+        <initializer> mu0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="45" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="45" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1c4c2ef995e2ecf5d73b67e1433f5a948" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>oPt</definition>
+        <argsstring></argsstring>
+        <name>oPt</name>
+        <initializer> chol(P0)&apos;</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="46" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="46" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_119e6ba283e3fd08bfa073795feb53ca8" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>oll</definition>
+        <argsstring></argsstring>
+        <name>oll</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="47" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="47" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_18fb092330ecda60587643305d0d9738a" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>tic</definition>
+        <argsstring></argsstring>
+        <name>tic</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="49" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="49" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1eeb7263bc62091985bdabfb0015cbc29" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for t</definition>
+        <argsstring></argsstring>
+        <name>t</name>
+        <initializer>2:N
+	mu = A*mu + B*u(t)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="51" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="50" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_124068c887c4d53fd6bae5a1cec850190" prot="public" static="no" mutable="no">
+        <type>Data update</type>
+        <definition>Data update Ry</definition>
+        <argsstring></argsstring>
+        <name>Ry</name>
+        <initializer> C*P*C&apos; + R</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="55" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="55" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_17939d564205f8ed94a9c2fbc96fc1db6" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>iRy</definition>
+        <argsstring></argsstring>
+        <name>iRy</name>
+        <initializer> inv(Ry)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="56" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="56" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_116e4ef534cec559430e07e05eb71c719" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>K</definition>
+        <argsstring></argsstring>
+        <name>K</name>
+        <initializer> P*C&apos;*iRy</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="57" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="57" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_123c1622d0f5af8a8a8cd90dd1898f3cb" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>mu</definition>
+        <argsstring></argsstring>
+        <name>mu</name>
+        <initializer> mu + K*(y(:,t)-C*mu-D*u(t))</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="59" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="59" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="testKF_8m_1f7d22d3421a567ae2e64e0fa8c6faaae" prot="public" static="no" mutable="no">
+        <type>end</type>
+        <definition>end exec_matlab</definition>
+        <argsstring></argsstring>
+        <name>exec_matlab</name>
+        <initializer> toc
+%keyboard
+
+!cd ../</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="70" bodyfile="/home/smidl/work/git/mixpp/matlab/testKF.m" bodystart="67" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testKF_8m_1c4ba94d0cc961b3de89a5ceac9de3035" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>function</type>
+        <definition>function testKF</definition>
+        <argsstring>(skipgen) if nargin&lt;1</argsstring>
+        <name>testKF</name>
+        <param>
+          <type>skipgen</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="2"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1aeeb1ead24334ce09a1ffb542f262835" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>x</definition>
+        <argsstring>(:, 1)</argsstring>
+        <name>x</name>
+        <param>
+          <type>:</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="23"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1dbad4a22ccad809116814f2a9ccf4a35" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>x</definition>
+        <argsstring>(:, i)</argsstring>
+        <name>x</name>
+        <param>
+          <type>:</type>
+        </param>
+        <param>
+          <type>i</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="27"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_11825a243c7bc27e6e7c926632cb3c8e9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>y</definition>
+        <argsstring>(:, i)</argsstring>
+        <name>y</name>
+        <param>
+          <type>:</type>
+        </param>
+        <param>
+          <type>i</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="28"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1e7ee862b63a54c45515bd83580c735a8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>itsave</definition>
+        <argsstring>(&apos;testKF.it&apos;, d, A, B, C, D, Q, R, P0, mu0) save testKF else load testKF end%init mu</argsstring>
+        <name>itsave</name>
+        <param>
+          <type>&apos;testKF.it&apos;</type>
+        </param>
+        <param>
+          <type>d</type>
+        </param>
+        <param>
+          <type>A</type>
+        </param>
+        <param>
+          <type>B</type>
+        </param>
+        <param>
+          <type>C</type>
+        </param>
+        <param>
+          <type>D</type>
+        </param>
+        <param>
+          <type>Q</type>
+        </param>
+        <param>
+          <type>R</type>
+        </param>
+        <param>
+          <type>P0</type>
+        </param>
+        <param>
+          <type>mu0</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="38"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1d2a9a71d990c7655993c37d23142b719" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>Mu</definition>
+        <argsstring>(1:2, t)</argsstring>
+        <name>Mu</name>
+        <param>
+          <type>1:2</type>
+        </param>
+        <param>
+          <type>t</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="60"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1dd30466a50baf6acfae4cf0947529afe" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>MuK</definition>
+        <argsstring>(1:2, t)</argsstring>
+        <name>MuK</name>
+        <param>
+          <type>1:2</type>
+        </param>
+        <param>
+          <type>t</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="64"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_13d65e09f321764f11ffd4175a584df77" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>MuS</definition>
+        <argsstring>(1:2, t)</argsstring>
+        <name>MuS</name>
+        <param>
+          <type>1:2</type>
+        </param>
+        <param>
+          <type>t</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="65"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1d91ba6b0ae965ae14603af3274d688c2" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>tests testKF</type>
+        <definition>tests testKF itload</definition>
+        <argsstring>(&apos;testKF_res.it&apos;)</argsstring>
+        <name>itload</name>
+        <param>
+          <type>&apos;testKF_res.it&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="71"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1f0aa8fd6dd46b4abbd815fff698c1a19" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold off</type>
+        <definition>hold off plot</definition>
+        <argsstring>(x&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>x&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="74"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_122cbae7e6e8310d3e71edd9dfb190789" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold on</type>
+        <definition>hold on plot</definition>
+        <argsstring>([xth]&apos;,&apos;--&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <attributes>[xth]</attributes>
+          <type>&apos;</type>
+        </param>
+        <param>
+          <type>&apos;--&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="76"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1f17b80513e8bddea8d2583c224b2a72c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>shift the predldmatictions</type>
+        <definition>shift the predldmatictions plot</definition>
+        <argsstring>(xth2&apos;,&apos;+&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xth2&apos;</type>
+        </param>
+        <param>
+          <type>&apos;+&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="77"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_16ce11142e1cc7f336ee0c84a8e7fa000" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(xthE&apos;,&apos;o&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xthE&apos;</type>
+        </param>
+        <param>
+          <type>&apos;o&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="78"/>
+      </memberdef>
+      <memberdef kind="function" id="testKF_8m_1138c3946b02aa8367e24e1da465cc47c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>([zeros(size(xth, 1), 1) MuK]&apos;,&apos;d&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <attributes>[zeros(size(xth, 1), 1) MuK]</attributes>
+          <type>&apos;</type>
+        </param>
+        <param>
+          <type>&apos;d&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/testKF.m" line="79"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">function<sp/>testKF(skipgen)</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">if<sp/>nargin&lt;1,<sp/>skipgen=0;<sp/>end</highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal">if<sp/>~skipgen</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A=[1<sp/>-0.5;<sp/>1<sp/>0];</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>B=[1;0.1];</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C=[1<sp/>0];%;<sp/>0<sp/>1];</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>D=0.1;%[0.1;<sp/>0];</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R=0.01;%[1<sp/>0;<sp/>0<sp/>0.1];</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q=[0.2<sp/>0<sp/>;<sp/>0<sp/>0.2];<sp/></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sQ<sp/>=<sp/>chol(Q)&apos;;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sR<sp/>=<sp/>chol(R)&apos;;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>N<sp/>=3000;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu0<sp/>=<sp/>[0;0];</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P0<sp/>=<sp/>200*eye(2);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>=<sp/>zeros(1,N);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x<sp/>=<sp/>zeros(2,N);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y<sp/>=<sp/>zeros(1,N);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x(:,1)<sp/>=<sp/>[10;10];</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Et<sp/>=<sp/>sQ*randn(2,N);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Wt<sp/>=<sp/>sR*randn(1,N);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>i=2:N;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>x(:,i)<sp/>=<sp/>A*x(:,i-1)<sp/>+<sp/>B*u(i)<sp/>+<sp/>Et(:,i);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y(:,i)<sp/>=<sp/>C*x(:,i)<sp/>+<sp/>D*u(i)<sp/>+<sp/>Wt(:,1);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>d=[y;u];</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itsave(&apos;testKF.it&apos;,d,A,B,C,D,Q,R,P0,mu0)</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>save<sp/>testKF</highlight></codeline>
+<codeline lineno="34"><highlight class="normal">else</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>load<sp/>testKF</highlight></codeline>
+<codeline lineno="36"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="37"><highlight class="normal">%<sp/>init<sp/></highlight></codeline>
+<codeline lineno="38"><highlight class="normal">mu<sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal">P<sp/>=<sp/>P0;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal">EP<sp/>=<sp/>[0;0];</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal">Oxt<sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal">OPt<sp/>=<sp/>P0;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal">ll<sp/>=0;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal">oxt<sp/>=<sp/>mu0;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal">oPt<sp/>=<sp/>chol(P0)&apos;;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">oll=0;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal">tic;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal">for<sp/>t=2:N</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu<sp/>=<sp/>A*mu<sp/>+<sp/>B*u(t);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P<sp/><sp/>=<sp/>A*P*A&apos;<sp/>+<sp/>Q;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%Data<sp/>update</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ry<sp/>=<sp/>C*P*C&apos;<sp/>+<sp/>R;</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>iRy<sp/>=<sp/>inv(Ry);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>K<sp/>=<sp/>P*C&apos;*iRy;<sp/></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>P<sp/>=<sp/>P-<sp/>K*C*P;<sp/>%<sp/>P<sp/>=<sp/>P<sp/>-KCP;</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu<sp/>=<sp/>mu<sp/>+<sp/>K*(y(:,t)-C*mu-D*u(t));</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Mu(1:2,t)=mu;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>[Oxt,OPt,ll(t)]<sp/>=<sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman</ref>(Oxt,y(:,t),A,C,Q,R,OPt);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal">%<sp/><sp/><sp/><sp/><sp/><sp/><sp/>[oxt,oPt,oll(t)]<sp/>=<sp/>KalmanSq(oxt,y(:,t),A,C,sQ,sR,oPt);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>MuK(1:2,t)<sp/>=<sp/>Oxt;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal">%<sp/><sp/><sp/><sp/><sp/><sp/><sp/>MuS(1:2,t)<sp/>=<sp/>oxt;</highlight></codeline>
+<codeline lineno="66"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="67"><highlight class="normal">exec_matlab<sp/>=<sp/>toc</highlight></codeline>
+<codeline lineno="68"><highlight class="normal">%keyboard</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal">!cd<sp/>../;./tests/testKF</highlight></codeline>
+<codeline lineno="71"><highlight class="normal">itload(&apos;testKF_res.it&apos;);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal">hold<sp/>off</highlight></codeline>
+<codeline lineno="74"><highlight class="normal">plot(x&apos;);</highlight></codeline>
+<codeline lineno="75"><highlight class="normal">hold<sp/>on</highlight></codeline>
+<codeline lineno="76"><highlight class="normal">plot([xth]&apos;,&apos;--&apos;);<sp/>%<sp/>shift<sp/>the<sp/>predldmatictions</highlight></codeline>
+<codeline lineno="77"><highlight class="normal">plot(xth2&apos;,&apos;+&apos;);</highlight></codeline>
+<codeline lineno="78"><highlight class="normal">plot(xthE&apos;,&apos;o&apos;);</highlight></codeline>
+<codeline lineno="79"><highlight class="normal">plot([zeros(size(xth,1),1)<sp/>MuK]&apos;,&apos;d&apos;);<sp/>%<sp/>shift<sp/>the<sp/>predictions</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal">exec_times</highlight></codeline>
+<codeline lineno="82"><highlight class="normal">exec_matlab./exec_times</highlight></codeline>
+<codeline lineno="83"><highlight class="normal">keyboard</highlight></codeline>
+<codeline lineno="84"><highlight class="normal">end</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/testKF.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__sim__disp_8m.xml
===================================================================
--- /doc/xml/pmsm__sim__disp_8m.xml (revision 187)
+++ /doc/xml/pmsm__sim__disp_8m.xml (revision 187)
@@ -0,0 +1,217 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__sim__disp_8m" kind="file">
+    <compoundname>pmsm_sim_disp.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="pmsm__sim__disp_8m_16f6ccfcf58b31cb6412107d9d5281426" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for i</definition>
+        <argsstring></argsstring>
+        <name>i</name>
+        <initializer>1:4
+	subplot(4,1,i)
+	plot(Dt(i,:)&apos;)
+end
+
+figure(2)
+for i=1:4
+	subplot(4,1,i)
+	plot(xth(i,:)&apos;)
+	hold on</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="12" bodyfile="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" bodystart="3" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="pmsm__sim__disp_8m_1a126f02bcfcec342fb72926c73b4aeb3" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>__pad4__</definition>
+        <argsstring></argsstring>
+        <name>__pad4__</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="14" bodyfile="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" bodystart="14" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__sim__disp_8m_141fc199c5fbd2721c3031779557ab6c5" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>itload</definition>
+        <argsstring>(&apos;../tests/pmsm_sim.it&apos;) figure(1)</argsstring>
+        <name>itload</name>
+        <param>
+          <type>&apos;../tests/pmsm_sim.it&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="2"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__sim__disp_8m_1453b457c8bc31005c9312b282b80883c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(xthE(i,:)&apos;,&apos;r&apos;) plot(xthM(i+4</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xthE(i,:)&apos;</type>
+        </param>
+        <param>
+          <type>&apos;r&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="14"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__sim__disp_8m_195521701a2e1e0294135c26397a840bf" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>g</type>
+        <definition>g plot</definition>
+        <argsstring>(xthV(i,:)&apos;,&apos;m&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>xthV(i,:)&apos;</type>
+        </param>
+        <param>
+          <type>&apos;m&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="15"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__sim__disp_8m_19d7427c0985c878f5fa9dded84ed841c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end figure</definition>
+        <argsstring>(3) for i</argsstring>
+        <name>figure</name>
+        <param>
+          <type>3</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="26"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__sim__disp_8m_131468621d6ab7eeb7b61b1776ff521ea" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold off</type>
+        <definition>hold off plot</definition>
+        <argsstring>(llgrid, ll(:, floor(ndat/3)),&apos;:&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>llgrid</type>
+        </param>
+        <param>
+          <type>ll(:, floor(ndat/3))</type>
+        </param>
+        <param>
+          <type>&apos;:&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="28"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__sim__disp_8m_18e4b90beb42714e4fddac6bbce462b01" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>hold on</type>
+        <definition>hold on plot</definition>
+        <argsstring>(llgrid, ll(:, floor(2 *ndat/3)),&apos;--&apos;)</argsstring>
+        <name>plot</name>
+        <param>
+          <type>llgrid</type>
+        </param>
+        <param>
+          <type>ll(:, floor(2 *ndat/3))</type>
+        </param>
+        <param>
+          <type>&apos;--&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="30"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__sim__disp_8m_1f697f681f84d798d12b7d2d89f67c6b8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>plot</definition>
+        <argsstring>(llgrid, ll(:, ndat))</argsstring>
+        <name>plot</name>
+        <param>
+          <type>llgrid</type>
+        </param>
+        <param>
+          <type>ll(:, ndat)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m" line="31"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">itload(</highlight><highlight class="stringliteral">&apos;../tests/pmsm_sim.it&apos;</highlight><highlight class="normal">)</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">figure(1);</highlight></codeline>
+<codeline lineno="3"><highlight class="normal">for<sp/>i<sp/>=1:4</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>subplot(4,1,i)</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(Dt(i,:)&apos;)</highlight></codeline>
+<codeline lineno="6"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal">figure(2)</highlight></codeline>
+<codeline lineno="9"><highlight class="normal">for<sp/>i=1:4</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>subplot(4,1,i)</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(xth(i,:)&apos;)</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hold<sp/>on;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(xthE(i,:)&apos;,&apos;r&apos;)</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(xthM(i+4,:)&apos;,&apos;g&apos;)</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(xthV(i,:)&apos;,&apos;m&apos;);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal">figure(3)</highlight></codeline>
+<codeline lineno="19"><highlight class="normal">for<sp/>i=1:4</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>subplot(4,1,i)</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>plot(xthM(i,:)&apos;)</highlight></codeline>
+<codeline lineno="22"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal">%<sp/>figure(3)</highlight></codeline>
+<codeline lineno="26"><highlight class="normal">%<sp/>ndat<sp/>=<sp/>size(ll,2);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal">%<sp/>hold<sp/>off</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">%<sp/>plot(llgrid,ll(:,floor(ndat/3)),&apos;:&apos;);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">%<sp/>hold<sp/>on</highlight></codeline>
+<codeline lineno="30"><highlight class="normal">%<sp/>plot(llgrid,ll(:,floor(2*ndat/3)),&apos;--&apos;);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">%<sp/>plot(llgrid,ll(:,ndat));</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/pmsm_sim_disp.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmprod.xml
===================================================================
--- /doc/xml/classmprod.xml (revision 187)
+++ /doc/xml/classmprod.xml (revision 187)
@@ -0,0 +1,495 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmprod" kind="class" prot="public">
+    <compoundname>mprod</compoundname>
+    <basecompoundref refid="classmpdf" prot="public" virt="non-virtual">mpdf</basecompoundref>
+    <includes refid="emix_8h" local="no">emix.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmprod_17dcf1dde4a220f8c7b97ed987bff6c1f" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int mprod::n</definition>
+        <argsstring></argsstring>
+        <name>n</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="73" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmprod_10883ce383e8475546df138719918f70e" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classepdf" kindref="compound">epdf</ref> * &gt;</type>
+        <definition>Array&lt;epdf*&gt; mprod::epdfs</definition>
+        <argsstring></argsstring>
+        <name>epdfs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="75" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmprod_12389c7585ac5d0d79587625186818889" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classmpdf" kindref="compound">mpdf</ref> * &gt;</type>
+        <definition>Array&lt;mpdf*&gt; mprod::mpdfs</definition>
+        <argsstring></argsstring>
+        <name>mpdfs</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="76" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="76" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" prot="protected" static="no" mutable="no">
+        <type>Array&lt; ivec &gt;</type>
+        <definition>Array&lt;ivec&gt; mprod::rvinds</definition>
+        <argsstring></argsstring>
+        <name>rvinds</name>
+        <briefdescription>
+<para>Indeces of rvs in common rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="79" bodyend="-1"/>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmprod_11725c7b497a27ab3c4889b846666b516" prot="protected" static="no" mutable="no">
+        <type>Array&lt; ivec &gt;</type>
+        <definition>Array&lt;ivec&gt; mprod::rvcinrv</definition>
+        <argsstring></argsstring>
+        <name>rvcinrv</name>
+        <briefdescription>
+<para>Indeces of rvc in common rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="81" bodyend="-1"/>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmprod_1cc85192d8abc01832937ed8b62e363a6" prot="protected" static="no" mutable="no">
+        <type>Array&lt; ivec &gt;</type>
+        <definition>Array&lt;ivec&gt; mprod::rvcinds</definition>
+        <argsstring></argsstring>
+        <name>rvcinds</name>
+        <briefdescription>
+<para>Indeces of rvc in common rvc. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="83" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="83" bodyend="-1"/>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool mprod::independent</definition>
+        <argsstring></argsstring>
+        <name>independent</name>
+        <briefdescription>
+<para>Indicate independence of its factors. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="85" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="85" bodyend="-1"/>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">mpdf::_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf::mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix::mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmprod_1419b303581a91ad85200bdcb4b3186f4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mprod::mprod</definition>
+        <argsstring>(Array&lt; mpdf * &gt; mFacs)</argsstring>
+        <name>mprod</name>
+        <param>
+          <type>Array&lt; <ref refid="classmpdf" kindref="compound">mpdf</ref> * &gt;</type>
+          <declname>mFacs</declname>
+        </param>
+        <briefdescription>
+<para>Constructor from list of eFacs or list of mFacs. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="90" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="90" bodyend="115"/>
+        <references refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</references>
+        <references refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">RV::add</references>
+        <references refid="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" compoundref="emix_8h" startline="85">independent</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <references refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" compoundref="emix_8h" startline="83">rvcinds</references>
+        <references refid="classmprod_11725c7b497a27ab3c4889b846666b516" compoundref="emix_8h" startline="81">rvcinrv</references>
+        <references refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" compoundref="emix_8h" startline="79">rvinds</references>
+      </memberdef>
+      <memberdef kind="function" id="classmprod_1c15df5d0c7bb9dc82dd78f037b2550a8" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double mprod::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="117" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="117" bodyend="127"/>
+      </memberdef>
+      <memberdef kind="function" id="classmprod_176d18dd4f16b361eaead17083237b532" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec</type>
+        <definition>vec mprod::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll) const </argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="128" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="128" bodyend="145"/>
+      </memberdef>
+      <memberdef kind="function" id="classmprod_1440d0417700482af46a950ba6955e6d5" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mprod::~mprod</definition>
+        <argsstring>()</argsstring>
+        <name>~mprod</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="164" bodyend="164"/>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void mpdf::condition</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>condition</name>
+        <reimplementedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460">condition</reimplementedby>
+        <reimplementedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97">condition</reimplementedby>
+        <reimplementedby refid="classmmix_11a66629ec5c2b6f4740606cf737f0193">condition</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="195" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="195" bodyend="195"/>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Chain rule decomposition of <ref refid="classepdf" kindref="compound">epdf</ref>. </para>    </briefdescription>
+    <detaileddescription>
+<para>Probability density in the form of Chain-rule decomposition: \[ f(x_1,x_2,x_3) = f(x_1|x_2,x_3)f(x_2,x_3)f(x_3) \] Note that </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1263">
+        <label>mprod</label>
+        <link refid="classmprod"/>
+        <childnode refid="1264" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1264">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1268">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1267" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1265">
+        <label>mprod</label>
+        <link refid="classmprod"/>
+        <childnode refid="1266" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1267">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1266">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1267" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1268" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/emix.h" line="70" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/emix.h" bodystart="70" bodyend="165"/>
+    <listofallmembers>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mprod</scope><name>_epdf</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mprod</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mprod</scope><name>_rvc</name></member>
+      <member refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" prot="public" virt="virtual"><scope>mprod</scope><name>condition</name></member>
+      <member refid="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" virt="non-virtual"><scope>mprod</scope><name>ep</name></member>
+      <member refid="classmprod_10883ce383e8475546df138719918f70e" prot="protected" virt="non-virtual"><scope>mprod</scope><name>epdfs</name></member>
+      <member refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" virt="virtual"><scope>mprod</scope><name>evalcond</name></member>
+      <member refid="classmprod_1c15df5d0c7bb9dc82dd78f037b2550a8" prot="public" virt="non-virtual"><scope>mprod</scope><name>evalpdflog</name></member>
+      <member refid="classmprod_15f6431dc5f5ce8a817e0b2049f2a9eda" prot="protected" virt="non-virtual"><scope>mprod</scope><name>independent</name></member>
+      <member refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" virt="non-virtual"><scope>mprod</scope><name>mpdf</name></member>
+      <member refid="classmprod_12389c7585ac5d0d79587625186818889" prot="protected" virt="non-virtual"><scope>mprod</scope><name>mpdfs</name></member>
+      <member refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" prot="public" virt="non-virtual"><scope>mprod</scope><name>mprod</name></member>
+      <member refid="classmprod_17dcf1dde4a220f8c7b97ed987bff6c1f" prot="protected" virt="non-virtual"><scope>mprod</scope><name>n</name></member>
+      <member refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" virt="non-virtual"><scope>mprod</scope><name>rv</name></member>
+      <member refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" virt="non-virtual"><scope>mprod</scope><name>rvc</name></member>
+      <member refid="classmprod_1cc85192d8abc01832937ed8b62e363a6" prot="protected" virt="non-virtual"><scope>mprod</scope><name>rvcinds</name></member>
+      <member refid="classmprod_11725c7b497a27ab3c4889b846666b516" prot="protected" virt="non-virtual"><scope>mprod</scope><name>rvcinrv</name></member>
+      <member refid="classmprod_1c8f78fbcdb4e38ecd3197d2958082497" prot="protected" virt="non-virtual"><scope>mprod</scope><name>rvinds</name></member>
+      <member refid="classmprod_176d18dd4f16b361eaead17083237b532" prot="public" virt="non-virtual"><scope>mprod</scope><name>samplecond</name></member>
+      <member refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" virt="virtual" ambiguityscope="mpdf::"><scope>mprod</scope><name>samplecond</name></member>
+      <member refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" virt="virtual" ambiguityscope="mpdf::"><scope>mprod</scope><name>samplecond</name></member>
+      <member refid="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" virt="virtual"><scope>mprod</scope><name>~mpdf</name></member>
+      <member refid="classmprod_1440d0417700482af46a950ba6955e6d5" prot="public" virt="non-virtual"><scope>mprod</scope><name>~mprod</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmerger.xml
===================================================================
--- /doc/xml/classmerger.xml (revision 187)
+++ /doc/xml/classmerger.xml (revision 187)
@@ -0,0 +1,116 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmerger" kind="class" prot="public">
+    <compoundname>merger</compoundname>
+    <includes refid="merger_8h" local="no">merger.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmerger_103b845699882aa261613701f9ad784b4" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat merger::Smp</definition>
+        <argsstring></argsstring>
+        <name>Smp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/merger.h" line="32" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/merger.h" bodystart="32" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmerger_1efc6f6f860975b8d0de493e84be8a1c6" prot="protected" static="no" mutable="no">
+        <type><ref refid="classmprod" kindref="compound">mprod</ref></type>
+        <definition>mprod merger::joint</definition>
+        <argsstring></argsstring>
+        <name>joint</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/merger.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/merger.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmerger_11a6a721294321c2e412ca0084c636b69" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>merger::merger</definition>
+        <argsstring>(const Array&lt; mpdf * &gt; &amp;in_sources)</argsstring>
+        <name>merger</name>
+        <param>
+          <type>const Array&lt; <ref refid="classmpdf" kindref="compound">mpdf</ref> * &gt; &amp;</type>
+          <declname>in_sources</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/merger.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/merger.h" bodystart="36" bodyend="38"/>
+        <references refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</references>
+      </memberdef>
+      <memberdef kind="function" id="classmerger_151e425ee1dd46d73353526e6a1c24ca3" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual merger::~merger</definition>
+        <argsstring>()</argsstring>
+        <name>~merger</name>
+        <briefdescription>
+<para>for future use </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/merger.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/merger.h" bodystart="42" bodyend="42"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Function for general combination of pdfs. </para>    </briefdescription>
+    <detaileddescription>
+<para>Parent of simple arithmentic or geometric combinations </para>    </detaileddescription>
+    <collaborationgraph>
+      <node id="1191">
+        <label>merger</label>
+        <link refid="classmerger"/>
+        <childnode refid="1192" relation="usage">
+          <edgelabel>joint</edgelabel>
+        </childnode>
+      </node>
+      <node id="1195">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1194" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1192">
+        <label>mprod</label>
+        <link refid="classmprod"/>
+        <childnode refid="1193" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1194">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1193">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1194" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1195" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/merger.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/merger.h" bodystart="30" bodyend="43"/>
+    <listofallmembers>
+      <member refid="classmerger_1efc6f6f860975b8d0de493e84be8a1c6" prot="protected" virt="non-virtual"><scope>merger</scope><name>joint</name></member>
+      <member refid="classmerger_11a6a721294321c2e412ca0084c636b69" prot="public" virt="non-virtual"><scope>merger</scope><name>merger</name></member>
+      <member refid="classmerger_103b845699882aa261613701f9ad784b4" prot="protected" virt="non-virtual"><scope>merger</scope><name>Smp</name></member>
+      <member refid="classmerger_151e425ee1dd46d73353526e6a1c24ca3" prot="public" virt="virtual"><scope>merger</scope><name>~merger</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/index.xml
===================================================================
--- /doc/xml/index.xml (revision 187)
+++ /doc/xml/index.xml (revision 187)
@@ -0,0 +1,2509 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygenindex xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="index.xsd" version="1.5.6">
+  <compound refid="classARX" kind="class"><name>ARX</name>
+    <member refid="classARX_1691d023662beffa1dda611b416c0e27e" kind="variable"><name>est</name></member>
+    <member refid="classARX_12291297861dd74ca0175a01f910a0ef7" kind="variable"><name>V</name></member>
+    <member refid="classARX_1a4182c281098b2d86b62518a7493d9be" kind="variable"><name>nu</name></member>
+    <member refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" kind="variable"><name>frg</name></member>
+    <member refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" kind="variable"><name>last_lognc</name></member>
+    <member refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" kind="variable"><name>tll</name></member>
+    <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" kind="variable"><name>rv</name></member>
+    <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kind="variable"><name>ll</name></member>
+    <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kind="variable"><name>evalll</name></member>
+    <member refid="classARX_15fc6c18e73dcc0f1135eef33f42db8be" kind="function"><name>ARX</name></member>
+    <member refid="classARX_13ccef8dc9dbed00ec74dddc949845d39" kind="function"><name>set_parameters</name></member>
+    <member refid="classARX_129f55b43b8b6f5c4a55f6176aa85c494" kind="function"><name>get_parameters</name></member>
+    <member refid="classARX_1ba82c956ca893826811aefe1e4af465d" kind="function"><name>bayes</name></member>
+    <member refid="classARX_19d8eff7a9df81786191a4c55b27e5b8a" kind="function"><name>_epdf</name></member>
+    <member refid="classARX_1130bb7336aac681ce14b027b8f1409fa" kind="function"><name>structure_est</name></member>
+    <member refid="classARX_1b8827048ceec8999849e2ed15400cae7" kind="function"><name>_tll</name></member>
+    <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" kind="function"><name>bayes</name></member>
+    <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" kind="function"><name>_rv</name></member>
+    <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" kind="function"><name>_ll</name></member>
+  </compound>
+  <compound refid="classAssertXercesIsAlive" kind="class"><name>AssertXercesIsAlive</name>
+    <member refid="classAssertXercesIsAlive_1dd36033ed31fe22022e7c56c7770101e" kind="function"><name>AssertXercesIsAlive</name></member>
+  </compound>
+  <compound refid="classAssertXercesIsAlive_1_1XercesConnector" kind="class"><name>AssertXercesIsAlive::XercesConnector</name>
+    <member refid="classAssertXercesIsAlive_1_1XercesConnector_175291fdcef2aa0e82932f8bea37c82a8" kind="function"><name>XercesConnector</name></member>
+    <member refid="classAssertXercesIsAlive_1_1XercesConnector_114c45f34a07e78abd8faec9d25a0d3dc" kind="function"><name>~XercesConnector</name></member>
+    <member refid="classAssertXercesIsAlive_1_1XercesConnector_1bd7d4596170f181ad61119b3abb82f35" kind="function"><name>StayAlive</name></member>
+  </compound>
+  <compound refid="classAttribute" kind="class"><name>Attribute</name>
+    <member refid="classAttribute_1d83a96149ae0e64667f2d5758cfa1bf1" kind="variable"><name>dummy</name></member>
+    <member refid="classAttribute_155346e03a6ac9d60f288c4fedab6731f" kind="variable"><name>transcodedAttributeName</name></member>
+    <member refid="classAttribute_1d6474fd976f505e70e10c497199c6770" kind="variable"><name>help</name></member>
+    <member refid="classAttribute_15f6cce980606fa8943857204aacb5478" kind="variable"><name>type</name></member>
+    <member refid="classAttribute_1452441da4ebfda23cdc668943ffe8da7" kind="variable"><name>value</name></member>
+    <member refid="classAttribute_14c4c80e6b59e3356324ef02d0e92d813" kind="function"><name>Attribute</name></member>
+    <member refid="classAttribute_128ab087bb886728670e4ae5791bc2ea8" kind="function"><name>~Attribute</name></member>
+    <member refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" kind="function"><name>Get</name></member>
+    <member refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" kind="function"><name>Set</name></member>
+  </compound>
+  <compound refid="classBike" kind="class"><name>Bike</name>
+    <member refid="classBike_1f2d15b79b87a76c07b1a286be5ef0312" kind="variable"><name>electricLights</name></member>
+    <member refid="classTransport_170cae36f44aac2f8acb03ac65acf2a26" kind="variable"><name>year</name></member>
+    <member refid="classTransport_1b0465cd394405877c611959dde903d75" kind="variable"><name>manufacturer</name></member>
+    <member refid="classBike_1f2d75508bd0b643f3618c5702a37f163" kind="function"><name>Bike</name></member>
+    <member refid="classBike_111ce254b2fbbd72b65f41b0f933e7609" kind="function"><name>ToString</name></member>
+  </compound>
+  <compound refid="classBikeUI" kind="class"><name>BikeUI</name>
+    <member refid="classBikeUI_143110d054f73b449c0b9c0b886c50f96" kind="variable"><name>year</name></member>
+    <member refid="classBikeUI_1e4eaabaeabcacbf4f07c04bb9b744298" kind="variable"><name>lights</name></member>
+    <member refid="classBikeUI_169c865cd2a424f37c5aee9b42884ae92" kind="variable"><name>manufacturer</name></member>
+    <member refid="classBikeUI_1cd24b018e928932a14887c6e9b781a8d" kind="function"><name>BikeUI</name></member>
+    <member refid="classBikeUI_12479b2759ea4fcf9f481118219f486dd" kind="function"><name>AssemblyInstance</name></member>
+    <member refid="classBikeUI_15d653d6cd4feda50923ae190f27e5392" kind="function"><name>DisassemblyInstance</name></member>
+    <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" kind="variable"><name>instance</name></member>
+    <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" kind="function"><name>Assembly</name></member>
+    <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" kind="function"><name>Disassembly</name></member>
+    <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" kind="function"><name>Disassembly</name></member>
+    <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" kind="function"><name>XMLCh2str</name></member>
+    <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" kind="function"><name>removeSpaces</name></member>
+  </compound>
+  <compound refid="classbilinfn" kind="class"><name>bilinfn</name>
+    <member refid="classbilinfn_1b6fee68f972e258c11f89056bdf20042" kind="variable"><name>A</name></member>
+    <member refid="classbilinfn_1d157be10c5388538c33f0909cce48e6e" kind="variable"><name>B</name></member>
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+    <member refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" kind="function"><name>_dimx</name></member>
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+    <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" kind="function"><name>_dimy</name></member>
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+    <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" kind="variable"><name>dimy</name></member>
+  </compound>
+  <compound refid="classBindingFrame" kind="class"><name>BindingFrame</name>
+    <member refid="classBindingFrame_1265a3c88c17c3f21de460dc1c6190724" kind="variable"><name>dummy</name></member>
+    <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" kind="function"><name>BindingFrame</name></member>
+    <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" kind="function"><name>XMLCh2str</name></member>
+    <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" kind="function"><name>removeSpaces</name></member>
+    <member refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" kind="function"><name>AssemblyComponentsFromXML</name></member>
+    <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" kind="function"><name>ReleaseMemory</name></member>
+    <member refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" kind="function"><name>DisassemblyComponentsToXML</name></member>
+  </compound>
+  <compound refid="classBM" kind="class"><name>BM</name>
+    <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" kind="variable"><name>rv</name></member>
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+  <compound refid="loggers__test_8cpp" kind="file"><name>loggers_test.cpp</name>
+    <member refid="loggers__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
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+    <member refid="merger__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="rv__test_8cpp" kind="file"><name>rv_test.cpp</name>
+    <member refid="rv__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="test0_8cpp" kind="file"><name>test0.cpp</name>
+    <member refid="test0_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testEpdf_8cpp" kind="file"><name>testEpdf.cpp</name>
+    <member refid="testEpdf_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testKF_8cpp" kind="file"><name>testKF.cpp</name>
+    <member refid="testKF_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testKF__QR_8cpp" kind="file"><name>testKF_QR.cpp</name>
+    <member refid="testKF__QR_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testKF__QRexh_8cpp" kind="file"><name>testKF_QRexh.cpp</name>
+    <member refid="testKF__QRexh_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testPF_8cpp" kind="file"><name>testPF.cpp</name>
+    <member refid="testPF_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testResample_8cpp" kind="file"><name>testResample.cpp</name>
+    <member refid="testResample_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testSmp_8cpp" kind="file"><name>testSmp.cpp</name>
+    <member refid="testSmp_8cpp_1e3186ff19d9ad2c3984dbd12c10bd9ad" kind="function"><name>disp</name></member>
+    <member refid="testSmp_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="testUI_8cpp" kind="file"><name>testUI.cpp</name>
+    <member refid="testUI_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kind="function"><name>main</name></member>
+  </compound>
+  <compound refid="codingrules" kind="page"><name>codingrules</name>
+  </compound>
+  <compound refid="dir_3f7515c2f3ce4af904da687b81ee06c5" kind="dir"><name>work/git/mixpp/bdm/</name>
+  </compound>
+  <compound refid="dir_9c0bd99393692affed99ff90b134972b" kind="dir"><name>work/git/mixpp/CMakeFiles/</name>
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+  </compound>
+  <compound refid="dir_260a13b6a8d96e228f9f275a00d11e2c" kind="dir"><name>work/git/mixpp/pmsm/simulator_zdenek/demo_example/data/</name>
+  </compound>
+  <compound refid="dir_5a133335136da3f9c8bb1a415325d6a8" kind="dir"><name>work/git/mixpp/pmsm/simulator_zdenek/demo_example/</name>
+  </compound>
+  <compound refid="dir_345b5e260735c3ed0e165b33f1d2e0be" kind="dir"><name>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/</name>
+  </compound>
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+  </compound>
+  <compound refid="dir_bc93bfa121b730676fc011758b3d1661" kind="dir"><name>work/git/</name>
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+  </compound>
+  <compound refid="dir_24b2ca2d1ebd811865a0eb87dcd74770" kind="dir"><name>work/git/mixpp/pmsm/simulator_zdenek/</name>
+  </compound>
+  <compound refid="dir_380b4c82e2c38260cdb12c490dae990f" kind="dir"><name>work/git/mixpp/bdm/stat/</name>
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+  <compound refid="dir_2493bdd1bbbe9d69651cba4e8a34b19a" kind="dir"><name>work/git/mixpp/tests/</name>
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+  </compound>
+</doxygenindex>
Index: /doc/xml/parametry__motoru_8h.xml
===================================================================
--- /doc/xml/parametry__motoru_8h.xml (revision 187)
+++ /doc/xml/parametry__motoru_8h.xml (revision 187)
@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="parametry__motoru_8h" kind="file">
+    <compoundname>parametry_motoru.h</compoundname>
+    <includedby refid="ekf__obj_8h" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</includedby>
+    <invincdepgraph>
+      <node id="764">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h</label>
+        <link refid="parametry_motoru.h"/>
+        <childnode refid="765" relation="include">
+        </childnode>
+      </node>
+      <node id="765">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+    </invincdepgraph>
+      <sectiondef kind="define">
+      <memberdef kind="define" id="parametry__motoru_8h_1345d1a871beb9e772c3bf9ef75412bb5" prot="public" static="no">
+        <name>Rs</name>
+        <initializer>0.28</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" line="14" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" bodystart="14" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="parametry__motoru_8h_16539938ab93930b3db0d878a6c72716b" prot="public" static="no">
+        <name>Ls</name>
+        <initializer>0.003465</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" line="15" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="parametry__motoru_8h_185db594b2ed79b7986388cd6eb083c8b" prot="public" static="no">
+        <name>Fmag</name>
+        <initializer>0.1989</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" line="16" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" bodystart="16" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="parametry__motoru_8h_1d59246fadffe0205c1ecfcd147c407f6" prot="public" static="no">
+        <name>J</name>
+        <initializer>0.04</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" bodystart="17" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="parametry__motoru_8h_1de66e4ccafbc33b117610bbc0d85feb0" prot="public" static="no">
+        <name>p</name>
+        <initializer>4.0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" line="19" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" bodystart="19" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="define" id="parametry__motoru_8h_14a22f30a94d579ec099493eaa3e3cfec" prot="public" static="no">
+        <name>kp</name>
+        <initializer>1.5</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" line="20" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h" bodystart="20" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/****************************************</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Parametry<sp/>synchronniho<sp/>motoru<sp/>s<sp/>permanentnimi<sp/>magnety</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Definice<sp/>zakl.<sp/>parametru</highlight></codeline>
+<codeline lineno="6"><highlight class="comment"></highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment">Rev.<sp/><sp/><sp/><sp/>4.6.2006</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"></highlight></codeline>
+<codeline lineno="11"><highlight class="comment">Pohon<sp/>NFR</highlight></codeline>
+<codeline lineno="12"><highlight class="comment">******************************************/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Rs<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>0.28</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>0.003465</highlight></codeline>
+<codeline lineno="16"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Fmag<sp/><sp/><sp/><sp/>0.1989</highlight></codeline>
+<codeline lineno="17"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>J<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>0.04<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>odhad<sp/>-<sp/>zatim<sp/>nemereno</highlight></codeline>
+<codeline lineno="18"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>p<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>4.0</highlight></codeline>
+<codeline lineno="20"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>kp<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>1.5</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/parametry_motoru.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classBindingFrame.xml
===================================================================
--- /doc/xml/classBindingFrame.xml (revision 187)
+++ /doc/xml/classBindingFrame.xml (revision 187)
@@ -0,0 +1,345 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classBindingFrame" kind="class" prot="public">
+    <compoundname>BindingFrame</compoundname>
+    <derivedcompoundref refid="classCompoundUserInfo_1_1BindedElement" prot="public" virt="non-virtual">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classUserInfo" prot="protected" virt="non-virtual">UserInfo</derivedcompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classBindingFrame_1265a3c88c17c3f21de460dc1c6190724" prot="private" static="no" mutable="no">
+        <type><ref refid="classAssertXercesIsAlive" kindref="compound">AssertXercesIsAlive</ref></type>
+        <definition>AssertXercesIsAlive BindingFrame::dummy</definition>
+        <argsstring></argsstring>
+        <name>dummy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This private attribute has to be declared as the first attribute in the class. Only this way we can be sure it&apos;s constructor is called as the first and thus Xerces is initialized properly and right on time </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="92" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>BindingFrame::BindingFrame</definition>
+        <argsstring>()</argsstring>
+        <name>BindingFrame</name>
+        <briefdescription>
+<para>default constructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="96" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="15" bodyend="18"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::AssemblyComponentsFromXML</definition>
+        <argsstring>(DOMElement &amp;element)=0</argsstring>
+        <name>AssemblyComponentsFromXML</name>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1159f56d7101091117dcdad68754bc195">AssemblyComponentsFromXML</reimplementedby>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method parse DOMElement, finds proper DOMNode and fills binded data accordingly. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="112"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>bool</type>
+        <definition>virtual bool BindingFrame::DisassemblyComponentsToXML</definition>
+        <argsstring>(DOMElement &amp;element)=0</argsstring>
+        <name>DisassemblyComponentsToXML</name>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939">DisassemblyComponentsToXML</reimplementedby>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This method reads binded data, fill them into a new DOMNode, which then appends to the passed DOMElement </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="119"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Abstract class declaring general properties of a frame for data binding. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="679">
+        <label>BikeUI</label>
+        <childnode refid="678" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="683">
+        <label>ValuedUserInfo&lt; int &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="680" relation="template-instance">
+          <edgelabel>&lt; int &gt;</edgelabel>
+        </childnode>
+        <childnode refid="690" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="682">
+        <label>DoubleUI</label>
+        <childnode refid="681" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="674">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="673" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="691">
+        <label>TypedUserInfo&lt; string &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="674" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+        <childnode refid="673" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="678">
+        <label>CompoundUserInfo&lt; Bike &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="675" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+        <childnode refid="694" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="692">
+        <label>TypedUserInfo&lt; Car &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="674" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+        <childnode refid="673" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="680">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="674" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="689">
+        <label>TypedUserInfo&lt; double &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="674" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+        <childnode refid="673" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="672">
+        <label>CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;</label>
+        <link refid="classCompoundUserInfo_1_1BindedElement"/>
+        <childnode refid="671" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="676">
+        <label>CompoundUserInfo&lt; Car &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="675" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+        <childnode refid="692" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="685">
+        <label>ValuedUserInfo&lt; string &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="680" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+        <childnode refid="691" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="694">
+        <label>TypedUserInfo&lt; Bike &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="674" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+        <childnode refid="673" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="690">
+        <label>TypedUserInfo&lt; int &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="674" relation="template-instance">
+          <edgelabel>&lt; int &gt;</edgelabel>
+        </childnode>
+        <childnode refid="673" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="687">
+        <label>ValuedUserInfo&lt; bool &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="680" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+        <childnode refid="693" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="693">
+        <label>TypedUserInfo&lt; bool &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="674" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+        <childnode refid="673" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="675">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="674" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="673">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="671" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="681">
+        <label>ValuedUserInfo&lt; double &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="680" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+        <childnode refid="689" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="688">
+        <label>BoolUI</label>
+        <childnode refid="687" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="686">
+        <label>StringUI</label>
+        <childnode refid="685" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="684">
+        <label>IntUI</label>
+        <childnode refid="683" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="677">
+        <label>CarUI</label>
+        <childnode refid="676" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="671">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="696">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="695">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="696" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="86" bodyend="120"/>
+    <listofallmembers>
+      <member refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" prot="public" virt="pure-virtual"><scope>BindingFrame</scope><name>AssemblyComponentsFromXML</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>BindingFrame</scope><name>BindingFrame</name></member>
+      <member refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" prot="public" virt="pure-virtual"><scope>BindingFrame</scope><name>DisassemblyComponentsToXML</name></member>
+      <member refid="classBindingFrame_1265a3c88c17c3f21de460dc1c6190724" prot="private" virt="non-virtual"><scope>BindingFrame</scope><name>dummy</name></member>
+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" virt="virtual"><scope>BindingFrame</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>BindingFrame</scope><name>removeSpaces</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>BindingFrame</scope><name>XMLCh2str</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/KalmanSq_8m.xml
===================================================================
--- /doc/xml/KalmanSq_8m.xml (revision 187)
+++ /doc/xml/KalmanSq_8m.xml (revision 187)
@@ -0,0 +1,181 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="KalmanSq_8m" kind="file">
+    <compoundname>KalmanSq.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="KalmanSq_8m_1dd98c59cfc7fe0f3cd188db34ae90188" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>function[xtn, oRxn, ll]</definition>
+        <argsstring>[xtn, oRxn, ll]</argsstring>
+        <name>function</name>
+        <initializer>KalmanSq(xt,yt,A,C,oRw,oRv,oRx)
+
+dimx = size(A,1)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="3" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="1" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="KalmanSq_8m_1df26d1da0d47fcb0e8e553d651e3fac4" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <initializer> size(C,1)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="4" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="4" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="KalmanSq_8m_1ad05f78187c942f9dd521605fa81f1ba" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>M</definition>
+        <argsstring></argsstring>
+        <name>M</name>
+        <initializer> [oRv C*oRx zeros(dimy,dimx)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="6" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="6" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="KalmanSq_8m_18e65f1fdd0e1d957735bb841b994a4a1" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>al</definition>
+        <argsstring></argsstring>
+        <name>al</name>
+        <initializer>qr(M&apos;) r(1:2,end)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="11" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="KalmanSq_8m_11364cba01e0ee80ef4381175bd6cf0d3" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>be</definition>
+        <argsstring></argsstring>
+        <name>be</name>
+        <initializer> r(3:4,end)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="12" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="12" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="KalmanSq_8m_1f0b469af4c14c5b4b1e48c82e6e908b6" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>oRxn</definition>
+        <argsstring></argsstring>
+        <name>oRxn</name>
+        <initializer> r(dimy+1:dimy+dimx, dimy+1:dimy+dimx)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="14" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="14" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="KalmanSq_8m_1c34811bbdbe0147bd1c59a5aced7db9f" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>xtn</definition>
+        <argsstring></argsstring>
+        <name>xtn</name>
+        <initializer> oRxn&apos;*be</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="15" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="15" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="KalmanSq_8m_1562b530cff1f5bca3b1a4c1ad4ad9962" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <initializer>0</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="17" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="17" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="KalmanSq_8m_1a342c11652cfeecbea3be14f4a7527c3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>zeros</definition>
+        <argsstring>(dimx, dimy) A *oRx oRw</argsstring>
+        <name>zeros</name>
+        <param>
+          <type>dimx</type>
+        </param>
+        <param>
+          <type>dimy</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="7"/>
+      </memberdef>
+      <memberdef kind="function" id="KalmanSq_8m_179b486dabafd57601aa38e2f44234d0d" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>1, dimx</type>
+        <definition>1,dimx zeros</definition>
+        <argsstring>()</argsstring>
+        <name>zeros</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="8"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">function<sp/>[xtn,oRxn,ll]=KalmanSq(xt,yt,A,C,oRw,oRv,oRx)</highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal">dimx<sp/>=<sp/>size(A,1);</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">dimy<sp/>=<sp/>size(C,1);</highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal">M<sp/>=<sp/>[oRv<sp/>C*oRx<sp/>zeros(dimy,dimx);</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zeros(dimx,dimy)<sp/>A*oRx<sp/>oRw;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>-yt&apos;*inv(oRv&apos;)<sp/>xt&apos;*inv(oRx&apos;)<sp/>zeros(1,dimx)];</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal">[q,r]=qr(M&apos;);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">al<sp/>=<sp/>r(1:2,end);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal">be<sp/>=<sp/>r(3:4,end);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal">oRxn<sp/>=<sp/>r(dimy+1:dimy+dimx,<sp/>dimy+1:dimy+dimx);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal">xtn<sp/>=<sp/>oRxn&apos;*be;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal">ll=0;</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">%keyboard</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/bdm_2estim_2arx_8cpp.xml
===================================================================
--- /doc/xml/bdm_2estim_2arx_8cpp.xml (revision 187)
+++ /doc/xml/bdm_2estim_2arx_8cpp.xml (revision 187)
@@ -0,0 +1,213 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="bdm_2estim_2arx_8cpp" kind="file">
+    <compoundname>arx.cpp</compoundname>
+    <includes refid="arx_8h" local="yes">arx.h</includes>
+    <incdepgraph>
+      <node id="188">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="186" relation="include">
+        </childnode>
+      </node>
+      <node id="191">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="186" relation="include">
+        </childnode>
+      </node>
+      <node id="189">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="186" relation="include">
+        </childnode>
+        <childnode refid="190" relation="include">
+        </childnode>
+        <childnode refid="188" relation="include">
+        </childnode>
+        <childnode refid="191" relation="include">
+        </childnode>
+      </node>
+      <node id="185">
+        <label>arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="186" relation="include">
+        </childnode>
+        <childnode refid="187" relation="include">
+        </childnode>
+        <childnode refid="189" relation="include">
+        </childnode>
+      </node>
+      <node id="187">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="186" relation="include">
+        </childnode>
+        <childnode refid="188" relation="include">
+        </childnode>
+      </node>
+      <node id="186">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="184">
+        <label>work/git/mixpp/bdm/estim/arx.cpp</label>
+        <link refid="bdm/estim/arx.cpp"/>
+        <childnode refid="185" relation="include">
+        </childnode>
+      </node>
+      <node id="190">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="186" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="bdm_2estim_2arx_8cpp_1d5bd9c8ac7c67d44b621bb06282c0dc5" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>double</type>
+        <definition>double egiw_bestbelow</definition>
+        <argsstring>(egiw Eg, egiw Eg0, double Egll, ivec &amp;indeces)</argsstring>
+        <name>egiw_bestbelow</name>
+        <param>
+          <type><ref refid="classegiw" kindref="compound">egiw</ref></type>
+          <declname>Eg</declname>
+        </param>
+        <param>
+          <type><ref refid="classegiw" kindref="compound">egiw</ref></type>
+          <declname>Eg0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>Egll</declname>
+        </param>
+        <param>
+          <type>ivec &amp;</type>
+          <declname>indeces</declname>
+        </param>
+        <briefdescription>
+<para>Return the best structure. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>Eg</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a copy of GiW density that is being examined </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>Eg0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a copy of prior GiW density before estimation </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>Egll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>likelihood of the current Eg </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>indeces</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>current indeces </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+<simplesect kind="return"><para>best likelihood in the structure below the given one </para></simplesect>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/arx.cpp" bodystart="33" bodyend="80"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&quot;<ref refid="arx_8h" kindref="compound" tooltip="Bayesian Filtering for generalized autoregressive (ARX) model.">arx.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5" refid="classARX_1ba82c956ca893826811aefe1e4af465d" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classARX_1ba82c956ca893826811aefe1e4af465d" kindref="member" tooltip="Here .">ARX::bayes</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;dt<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>lnc;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<ref refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" kindref="member" tooltip="forgetting factor">frg</ref>&lt;1.0)<sp/>{</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX_12291297861dd74ca0175a01f910a0ef7" kindref="member" tooltip="cached value of est.V">V</ref>*=<ref refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" kindref="member" tooltip="forgetting factor">frg</ref>;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX_1a4182c281098b2d86b62518a7493d9be" kindref="member" tooltip="cached value of est.nu">nu</ref>*=<ref refid="classARX_1e467144efb0a5acbc10dba4eff8638fe" kindref="member" tooltip="forgetting factor">frg</ref>;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref>)<sp/>{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" kindref="member" tooltip="cached value of lognc() in the previous step (used in evaluation of ll )">last_lognc</ref><sp/>=<sp/><ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX_12291297861dd74ca0175a01f910a0ef7" kindref="member" tooltip="cached value of est.V">V</ref>.<ref refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" kindref="member">opupdt</ref><sp/>(<sp/>dt,1.0);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX_1a4182c281098b2d86b62518a7493d9be" kindref="member" tooltip="cached value of est.nu">nu</ref>+=1.0;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/><ref refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" kindref="member" tooltip="If true, the filter will compute likelihood of the data record and store it in ll...">evalll</ref><sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>lnc<sp/>=<sp/><ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref><sp/>=<sp/>lnc<sp/>-<sp/><ref refid="classARX_16d0cd0f0734aa77cdc5e48f1cf6737ec" kindref="member" tooltip="cached value of lognc() in the previous step (used in evaluation of ll )">last_lognc</ref>;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>last_lognc<sp/>=<sp/>lnc;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX_164ea7c8ff48bf2548bac3e985e24da19" kindref="member" tooltip="total likelihood">tll</ref><sp/>+=<ref refid="classBM_15623fef6572a08c2b53b8c87b82dc979" kindref="member" tooltip="Logarithm of marginalized data likelihood.">ll</ref>;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="24"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>egiw_bestbelow<sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>Eg,<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>Eg0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Egll,<sp/>ivec<sp/>&amp;indeces<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//parameter<sp/>Eg<sp/>is<sp/>a<sp/>copy!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>Vo<sp/>=<sp/>Eg.<ref refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_V</ref>();<sp/></highlight><highlight class="comment">//copy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>Vo0<sp/>=<sp/>Eg.<ref refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_V</ref>();<sp/></highlight><highlight class="comment">//copy</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/>Vp<sp/>=<sp/>Eg.<ref refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_V</ref>();<sp/></highlight><highlight class="comment">//<sp/>pointer<sp/>into<sp/>Eg</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/>Vp0<sp/>=<sp/>Eg.<ref refid="classegiw_1533e792e1175bfa06d5d595dc5d080d5" kindref="member" tooltip="returns a pointer to the internal statistics. Use with Care!">_V</ref>();<sp/></highlight><highlight class="comment">//<sp/>pointer<sp/>into<sp/>Eg</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>end<sp/>=<sp/>Vp.<ref refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" kindref="member" tooltip="access function">rows</ref>()-1;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Li;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Li0;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>maxll=Egll;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>tmpll=Egll;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>belll=Egll;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>tmpindeces;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>maxindeces=indeces;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal">cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;bb:(&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>indeces<sp/>&lt;&lt;</highlight><highlight class="stringliteral">&quot;)<sp/>ll=&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Egll<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//try<sp/>to<sp/>remove<sp/>only<sp/>one<sp/>rv</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;end;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//copy<sp/>original</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Li<sp/>=<sp/>Vo.<ref refid="classldmat_15f44f100248c6627314afaa653b9e5bd" kindref="member" tooltip="Access functions.">_L</ref>();</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Li0<sp/>=<sp/>Vo0.<ref refid="classldmat_15f44f100248c6627314afaa653b9e5bd" kindref="member" tooltip="Access functions.">_L</ref>();</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//remove<sp/>stuff</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Li.del_col<sp/>(<sp/>i+1<sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Li0.del_col<sp/>(<sp/>i+1<sp/>);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vp.<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref><sp/>(<sp/>Li,Vo.<ref refid="classldmat_1282c879f50aa9ef934e7f46d86881582" kindref="member" tooltip="Access functions.">_D</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vp0.<ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref><sp/>(<sp/>Li0,Vo0.<ref refid="classldmat_1282c879f50aa9ef934e7f46d86881582" kindref="member" tooltip="Access functions.">_D</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmpll<sp/>=<sp/>Eg.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>()-Eg0.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();<sp/></highlight><highlight class="comment">//<sp/>likelihood<sp/>is<sp/>difference<sp/>of<sp/>norm.<sp/>coefs.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal">cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;i=(&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>i<sp/>&lt;&lt;</highlight><highlight class="stringliteral">&quot;)<sp/>ll=&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>tmpll<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>tmpll<sp/>&gt;<sp/>Egll<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//increase<sp/>of<sp/>the<sp/>likelihood</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmpindeces<sp/>=<sp/>indeces;</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tmpindeces.del<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//search<sp/>for<sp/>a<sp/>better<sp/>match<sp/>in<sp/>this<sp/>substructure</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>belll=egiw_bestbelow<sp/>(<sp/>Eg,<sp/>Eg0,<sp/>tmpll,<sp/>tmpindeces<sp/>);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>belll&gt;maxll<sp/>)<sp/>{<sp/></highlight><highlight class="comment">//better<sp/>match<sp/>found</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>maxll<sp/>=<sp/>belll;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>maxindeces<sp/>=<sp/>tmpindeces;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>indeces<sp/>=<sp/>maxindeces;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>maxll;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82" refid="classARX_1130bb7336aac681ce14b027b8f1409fa" refkind="member"><highlight class="normal">ivec<sp/><ref refid="classARX_1130bb7336aac681ce14b027b8f1409fa" kindref="member" tooltip="Brute force structure estimation.">ARX::structure_est</ref><sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>est0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ind=linspace<sp/>(<sp/>1,<ref refid="classBM_1af00f0612fabe66241dd507188cdbf88" kindref="member" tooltip="Random variable of the posterior.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()-1<sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>egiw_bestbelow<sp/>(<sp/><ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>,<sp/>est0,<sp/><ref refid="classARX_1691d023662beffa1dda611b416c0e27e" kindref="member" tooltip="Posterior estimate of  in the form of Normal-inverse Wishart density.">est</ref>.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>()-<sp/>est0.<ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>(),<sp/>ind<sp/>);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>ind;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/arx.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classeEmp.xml
===================================================================
--- /doc/xml/classeEmp.xml (revision 187)
+++ /doc/xml/classeEmp.xml (revision 187)
@@ -0,0 +1,347 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classeEmp" kind="class" prot="public">
+    <compoundname>eEmp</compoundname>
+    <basecompoundref refid="classepdf" prot="public" virt="non-virtual">epdf</basecompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int eEmp::n</definition>
+        <argsstring></argsstring>
+        <name>n</name>
+        <briefdescription>
+<para>Number of particles. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="314" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="314" bodyend="-1"/>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">mean</referencedby>
+        <referencedby refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" compoundref="libEF_8cpp" startline="114" endline="197">resample</referencedby>
+        <referencedby refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" compoundref="libEF_8cpp" startline="199" endline="207">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classeEmp_1ae78d144404ddba843c93b171b215de8" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec eEmp::w</definition>
+        <argsstring></argsstring>
+        <name>w</name>
+        <briefdescription>
+<para>Sample weights <formula id="44">$w$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="316" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="316" bodyend="-1"/>
+        <referencedby refid="classeEmp_131b2bfb73b72486a5c89f2ab850c7a9b" compoundref="libEF_8h" startline="325" endline="325">_w</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">mean</referencedby>
+        <referencedby refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" compoundref="libEF_8cpp" startline="114" endline="197">resample</referencedby>
+        <referencedby refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" compoundref="libEF_8cpp" startline="199" endline="207">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" prot="protected" static="no" mutable="no">
+        <type>Array&lt; vec &gt;</type>
+        <definition>Array&lt;vec&gt; eEmp::samples</definition>
+        <argsstring></argsstring>
+        <name>samples</name>
+        <briefdescription>
+<para>Samples <formula id="9">$x^{(i)}, i=1..n$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="318" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="318" bodyend="-1"/>
+        <referencedby refid="classeEmp_131b747eca73b16f30370827ba4cc3575" compoundref="libEF_8h" startline="327" endline="327">_samples</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">mean</referencedby>
+        <referencedby refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" compoundref="libEF_8cpp" startline="114" endline="197">resample</referencedby>
+        <referencedby refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" compoundref="libEF_8cpp" startline="199" endline="207">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">egamma::evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">egamma::lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">egamma::sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classeEmp_10c04b073ecd0dae3d498e680ae27e9e4" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>eEmp::eEmp</definition>
+        <argsstring>(const RV &amp;rv0, int n0)</argsstring>
+        <name>eEmp</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="321" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="321" bodyend="321"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEmp_16606a656c1b28114f7384c25aaf80e8d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void eEmp::set_parameters</definition>
+        <argsstring>(const vec &amp;w0, epdf *pdf0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>w0</declname>
+        </param>
+        <param>
+          <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+          <declname>pdf0</declname>
+        </param>
+        <briefdescription>
+<para>Set sample. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="323" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="199" bodyend="207"/>
+        <references refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" compoundref="libEF_8h" startline="314">n</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <references refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" compoundref="libEF_8h" startline="318">samples</references>
+        <references refid="classeEmp_1ae78d144404ddba843c93b171b215de8" compoundref="libEF_8h" startline="316">w</references>
+      </memberdef>
+      <memberdef kind="function" id="classeEmp_131b2bfb73b72486a5c89f2ab850c7a9b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>vec &amp;</type>
+        <definition>vec&amp; eEmp::_w</definition>
+        <argsstring>()</argsstring>
+        <name>_w</name>
+        <briefdescription>
+<para>Potentially dangerous, use with care. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="325" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="325" bodyend="325"/>
+        <references refid="classeEmp_1ae78d144404ddba843c93b171b215de8" compoundref="libEF_8h" startline="316">w</references>
+      </memberdef>
+      <memberdef kind="function" id="classeEmp_131b747eca73b16f30370827ba4cc3575" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>Array&lt; vec &gt; &amp;</type>
+        <definition>Array&lt;vec&gt;&amp; eEmp::_samples</definition>
+        <argsstring>()</argsstring>
+        <name>_samples</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="327" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="327" bodyend="327"/>
+        <references refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" compoundref="libEF_8h" startline="318">samples</references>
+      </memberdef>
+      <memberdef kind="function" id="classeEmp_177268292fc4465cb73ddbfb1f2932a59" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>ivec</type>
+        <definition>ivec eEmp::resample</definition>
+        <argsstring>(RESAMPLING_METHOD method=SYSTEMATIC)</argsstring>
+        <name>resample</name>
+        <param>
+          <type><ref refid="libEF_8h_199497a3ff630f761cf6bff7babd23212" kindref="member">RESAMPLING_METHOD</ref></type>
+          <declname>method</declname>
+          <defval>SYSTEMATIC</defval>
+        </param>
+        <briefdescription>
+<para>Function performs resampling, i.e. removal of low-weight samples and duplication of high-weight samples such that the new samples represent the same density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="329" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="114" bodyend="197"/>
+        <references refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" compoundref="libEF_8h" startline="314">n</references>
+        <references refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" compoundref="libEF_8h" startline="318">samples</references>
+        <references refid="classeEmp_1ae78d144404ddba843c93b171b215de8" compoundref="libEF_8h" startline="316">w</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classeEmp_183f9283f92b805508d896479dc1ccf12" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec eEmp::sample</definition>
+        <argsstring>() const </argsstring>
+        <name>sample</name>
+        <reimplements refid="classepdf_18019654e494bf5e458f6fb947e11b262">sample</reimplements>
+        <briefdescription>
+<para>inherited operation : NOT implemneted </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="331" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="331" bodyend="331"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEmp_123e7358995400865ad2e278945922fb3" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>double eEmp::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <reimplements refid="classepdf_16aef3eca74899692503769c18add1a4c">evalpdflog</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>inherited operation : NOT implemneted </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="333" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="333" bodyend="333"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEmp_1ba055c19038cc72628d98e25197e982d" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec eEmp::mean</definition>
+        <argsstring>() const </argsstring>
+        <name>mean</name>
+        <reimplements refid="classepdf_1bf0a070a8f3e67a93604ca724638b870">mean</reimplements>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="334" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="334" bodyend="338"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" compoundref="libEF_8h" startline="314">n</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <references refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" compoundref="libEF_8h" startline="318">samples</references>
+        <references refid="classeEmp_1ae78d144404ddba843c93b171b215de8" compoundref="libEF_8h" startline="316">w</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="153" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="153" bodyend="153"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Weighted empirical density. </para>    </briefdescription>
+    <detaileddescription>
+<para>Used e.g. in particle filters. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="840">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="839">
+        <label>eEmp</label>
+        <link refid="classeEmp"/>
+        <childnode refid="840" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="842">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="843" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="841">
+        <label>eEmp</label>
+        <link refid="classeEmp"/>
+        <childnode refid="842" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="843">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="311" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="311" bodyend="339"/>
+    <listofallmembers>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>eEmp</scope><name>_rv</name></member>
+      <member refid="classeEmp_131b747eca73b16f30370827ba4cc3575" prot="public" virt="non-virtual"><scope>eEmp</scope><name>_samples</name></member>
+      <member refid="classeEmp_131b2bfb73b72486a5c89f2ab850c7a9b" prot="public" virt="non-virtual"><scope>eEmp</scope><name>_w</name></member>
+      <member refid="classeEmp_10c04b073ecd0dae3d498e680ae27e9e4" prot="public" virt="non-virtual"><scope>eEmp</scope><name>eEmp</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>eEmp</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>eEmp</scope><name>epdf</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>eEmp</scope><name>eval</name></member>
+      <member refid="classeEmp_123e7358995400865ad2e278945922fb3" prot="public" virt="virtual"><scope>eEmp</scope><name>evalpdflog</name></member>
+      <member refid="classeEmp_1ba055c19038cc72628d98e25197e982d" prot="public" virt="virtual"><scope>eEmp</scope><name>mean</name></member>
+      <member refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" prot="protected" virt="non-virtual"><scope>eEmp</scope><name>n</name></member>
+      <member refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" prot="public" virt="non-virtual"><scope>eEmp</scope><name>resample</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>eEmp</scope><name>rv</name></member>
+      <member refid="classeEmp_183f9283f92b805508d896479dc1ccf12" prot="public" virt="virtual"><scope>eEmp</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>eEmp</scope><name>sampleN</name></member>
+      <member refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" prot="protected" virt="non-virtual"><scope>eEmp</scope><name>samples</name></member>
+      <member refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" prot="public" virt="non-virtual"><scope>eEmp</scope><name>set_parameters</name></member>
+      <member refid="classeEmp_1ae78d144404ddba843c93b171b215de8" prot="protected" virt="non-virtual"><scope>eEmp</scope><name>w</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>eEmp</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classegamma.xml
===================================================================
--- /doc/xml/classegamma.xml (revision 187)
+++ /doc/xml/classegamma.xml (revision 187)
@@ -0,0 +1,395 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classegamma" kind="class" prot="public">
+    <compoundname>egamma</compoundname>
+    <basecompoundref refid="classeEF" prot="public" virt="non-virtual">eEF</basecompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classegamma_1376cebd8932546c440f21b182910b01b" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec egamma::alpha</definition>
+        <argsstring></argsstring>
+        <name>alpha</name>
+        <briefdescription>
+<para>Vector <formula id="15">$\alpha$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="154" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="154" bodyend="-1"/>
+        <referencedby refid="classegamma_144445c56e60b91b377f207f8d5089790" compoundref="libEF_8h" startline="168" endline="168">_param</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">lognc</referencedby>
+        <referencedby refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a" compoundref="libEF_8h" startline="169" endline="169">mean</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">sample</referencedby>
+        <referencedby refid="classegamma_18e348b89be82b70471fe8c5630f61339" compoundref="libEF_8h" startline="161" endline="161">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classegamma_1cfc5f136467488a421ab22f886323790" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec egamma::beta</definition>
+        <argsstring></argsstring>
+        <name>beta</name>
+        <briefdescription>
+<para>Vector <formula id="16">$\beta$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="156" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="156" bodyend="-1"/>
+        <referencedby refid="classegamma_144445c56e60b91b377f207f8d5089790" compoundref="libEF_8h" startline="168" endline="168">_param</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">lognc</referencedby>
+        <referencedby refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a" compoundref="libEF_8h" startline="169" endline="169">mean</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">sample</referencedby>
+        <referencedby refid="classegamma_18e348b89be82b70471fe8c5630f61339" compoundref="libEF_8h" startline="161" endline="161">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV epdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Identified of the random variable. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="138" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="138" bodyend="-1"/>
+        <referencedby refid="classepdf_14778ea61ef400813e47750e024e9fc2f" compoundref="libBM_8h" startline="164" endline="164">epdf::_rv</referencedby>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">evalpdflog</referencedby>
+        <referencedby refid="classegiw_1425cbc53b377274e28c6add942bab62d" compoundref="libEF_8cpp" startline="19" endline="29">egiw::evalpdflog</referencedby>
+        <referencedby refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">lognc</referencedby>
+        <referencedby refid="classeEmp_1ba055c19038cc72628d98e25197e982d" compoundref="libEF_8h" startline="334" endline="338">eEmp::mean</referencedby>
+        <referencedby refid="classemix_1b662a51d042b062020460e64bff4e9e8" compoundref="emix_8h" startline="45" endline="49">emix::mean</referencedby>
+        <referencedby refid="classeuni_14a0e09392be17beaee120ba98fc038cd" compoundref="libEF_8h" startline="206" endline="211">euni::sample</referencedby>
+        <referencedby refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" compoundref="libEF_8cpp" startline="55" endline="66">sample</referencedby>
+        <referencedby refid="classepdf_154d7dd53a641b618771cd9bee135181f" compoundref="libBM_8cpp" startline="113" endline="117">epdf::sampleN</referencedby>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classegamma_14b1d34f3b244ea51a58ec10c468788c1" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>egamma::egamma</definition>
+        <argsstring>(const RV &amp;rv)</argsstring>
+        <name>egamma</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="159" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="159" bodyend="159"/>
+      </memberdef>
+      <memberdef kind="function" id="classegamma_18e348b89be82b70471fe8c5630f61339" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void egamma::set_parameters</definition>
+        <argsstring>(const vec &amp;a, const vec &amp;b)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>a</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>b</declname>
+        </param>
+        <briefdescription>
+<para>Sets parameters. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="161" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="161" bodyend="161"/>
+        <references refid="classegamma_1376cebd8932546c440f21b182910b01b" compoundref="libEF_8h" startline="154">alpha</references>
+        <references refid="classegamma_1cfc5f136467488a421ab22f886323790" compoundref="libEF_8h" startline="156">beta</references>
+      </memberdef>
+      <memberdef kind="function" id="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>vec</type>
+        <definition>vec egamma::sample</definition>
+        <argsstring>() const </argsstring>
+        <name>sample</name>
+        <reimplements refid="classepdf_18019654e494bf5e458f6fb947e11b262">sample</reimplements>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample, <formula id="28">$x$</formula> from density <formula id="59">$epdf(rv)$</formula> </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="162" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="55" bodyend="66"/>
+        <references refid="classegamma_1376cebd8932546c440f21b182910b01b" compoundref="libEF_8h" startline="154">alpha</references>
+        <references refid="classegamma_1cfc5f136467488a421ab22f886323790" compoundref="libEF_8h" startline="156">beta</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <references refid="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" compoundref="itpp__ext_8h" startline="41" endline="41">itpp::Gamma_RNG::setup</references>
+      </memberdef>
+      <memberdef kind="function" id="classegamma_1de84faac8f9799dfe2777ddbedf997ef" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double egamma::evalpdflog</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>evalpdflog</name>
+        <reimplements refid="classepdf_16aef3eca74899692503769c18add1a4c">evalpdflog</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>TODO: is it used anywhere? </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="165" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="83" bodyend="92"/>
+        <references refid="classegamma_1376cebd8932546c440f21b182910b01b" compoundref="libEF_8h" startline="154">alpha</references>
+        <references refid="classegamma_1cfc5f136467488a421ab22f886323790" compoundref="libEF_8h" startline="156">beta</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" compoundref="libEF_8cpp" startline="94" endline="103">lognc</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>double</type>
+        <definition>double egamma::lognc</definition>
+        <argsstring>() const </argsstring>
+        <name>lognc</name>
+        <reimplements refid="classeEF_169e5680dac10375d62520d26c672477d">lognc</reimplements>
+        <briefdescription>
+<para>logarithm of the normalizing constant, <formula id="60">$\mathcal{I}$</formula> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="166" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="94" bodyend="103"/>
+        <references refid="classegamma_1376cebd8932546c440f21b182910b01b" compoundref="libEF_8h" startline="154">alpha</references>
+        <references refid="classegamma_1cfc5f136467488a421ab22f886323790" compoundref="libEF_8h" startline="156">beta</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" compoundref="libEF_8cpp" startline="83" endline="92">evalpdflog</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classegamma_144445c56e60b91b377f207f8d5089790" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void egamma::_param</definition>
+        <argsstring>(vec *&amp;a, vec *&amp;b)</argsstring>
+        <name>_param</name>
+        <param>
+          <type>vec *&amp;</type>
+          <declname>a</declname>
+        </param>
+        <param>
+          <type>vec *&amp;</type>
+          <declname>b</declname>
+        </param>
+        <briefdescription>
+<para>Returns poiter to alpha and beta. Potentially dengerous: use with care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="168" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="168" bodyend="168"/>
+        <references refid="classegamma_1376cebd8932546c440f21b182910b01b" compoundref="libEF_8h" startline="154">alpha</references>
+        <references refid="classegamma_1cfc5f136467488a421ab22f886323790" compoundref="libEF_8h" startline="156">beta</references>
+      </memberdef>
+      <memberdef kind="function" id="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec egamma::mean</definition>
+        <argsstring>() const </argsstring>
+        <name>mean</name>
+        <reimplements refid="classepdf_1bf0a070a8f3e67a93604ca724638b870">mean</reimplements>
+        <briefdescription>
+<para>return expected value </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="169" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="169" bodyend="169"/>
+        <references refid="classegamma_1376cebd8932546c440f21b182910b01b" compoundref="libEF_8h" startline="154">alpha</references>
+        <references refid="classegamma_1cfc5f136467488a421ab22f886323790" compoundref="libEF_8h" startline="156">beta</references>
+      </memberdef>
+      <memberdef kind="function" id="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void eEF::tupdate</definition>
+        <argsstring>(double phi, mat &amp;vbar, double nubar)</argsstring>
+        <name>tupdate</name>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15b5fd142b6b17ea334597960e3fe126a">tupdate</reimplementedby>
+        <param>
+          <type>double</type>
+          <declname>phi</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>vbar</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nubar</declname>
+        </param>
+        <briefdescription>
+<para>TODO decide if it is really needed. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="46" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="46" bodyend="46"/>
+      </memberdef>
+      <memberdef kind="function" id="classeEF_15863718c3b2fb1496dece10c5b745d5c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void eEF::dupdate</definition>
+        <argsstring>(mat &amp;v, double nu=1.0)</argsstring>
+        <name>dupdate</name>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <reimplementedby refid="classenorm_15bf185e31e5954fceb90ada3debd2ff2">dupdate</reimplementedby>
+        <param>
+          <type>mat &amp;</type>
+          <declname>v</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>nu</declname>
+          <defval>1.0</defval>
+        </param>
+        <briefdescription>
+<para>TODO decide if it is really needed. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="48" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="48" bodyend="48"/>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" static="no" const="yes" explicit="no" inline="no" virt="virtual">
+        <type>mat</type>
+        <definition>mat epdf::sampleN</definition>
+        <argsstring>(int N) const </argsstring>
+        <name>sampleN</name>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns N samples from density <formula id="59">$epdf(rv)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.cpp" bodystart="113" bodyend="117"/>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double epdf::eval</definition>
+        <argsstring>(const vec &amp;val) const </argsstring>
+        <name>eval</name>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <reimplementedby refid="classeuni_12723d4992900b5c5495bfa03628195ed">eval</reimplementedby>
+        <reimplementedby refid="classenorm_1b9e1dfd33692d7b3f1a59f17b0e61bd0">eval</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>val</declname>
+        </param>
+        <briefdescription>
+<para>Compute probability of argument <computeroutput>val</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="153" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="153" bodyend="153"/>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>RV&amp; epdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function, possibly dangerous! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="164" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="164" bodyend="164"/>
+        <references refid="classepdf_174da992e3f5d598da8850b646b79b9d9" compoundref="libBM_8h" startline="138">epdf::rv</references>
+        <referencedby refid="classemix_16ce82b24d7fe540ddbf44b472a005555" compoundref="emix_8cpp" startline="5" endline="12">emix::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Gamma posterior density. </para>    </briefdescription>
+    <detaileddescription>
+<para>Multvariate Gamma density as product of independent univariate densities. <formula id="8">\[ f(x|\alpha,\beta) = \prod f(x_i|\alpha_i,\beta_i) \]</formula> </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="846">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+      </node>
+      <node id="844">
+        <label>egamma</label>
+        <link refid="classegamma"/>
+        <childnode refid="845" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="845">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="846" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="849">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="850" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="850">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="847">
+        <label>egamma</label>
+        <link refid="classegamma"/>
+        <childnode refid="848" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="848">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="849" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="151" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="151" bodyend="170"/>
+    <listofallmembers>
+      <member refid="classegamma_144445c56e60b91b377f207f8d5089790" prot="public" virt="non-virtual"><scope>egamma</scope><name>_param</name></member>
+      <member refid="classepdf_14778ea61ef400813e47750e024e9fc2f" prot="public" virt="non-virtual"><scope>egamma</scope><name>_rv</name></member>
+      <member refid="classegamma_1376cebd8932546c440f21b182910b01b" prot="protected" virt="non-virtual"><scope>egamma</scope><name>alpha</name></member>
+      <member refid="classegamma_1cfc5f136467488a421ab22f886323790" prot="protected" virt="non-virtual"><scope>egamma</scope><name>beta</name></member>
+      <member refid="classeEF_15863718c3b2fb1496dece10c5b745d5c" prot="public" virt="virtual"><scope>egamma</scope><name>dupdate</name></member>
+      <member refid="classeEF_17e3c63655e8375c76bf1f421245427a7" prot="public" virt="non-virtual"><scope>egamma</scope><name>eEF</name></member>
+      <member refid="classegamma_14b1d34f3b244ea51a58ec10c468788c1" prot="public" virt="non-virtual"><scope>egamma</scope><name>egamma</name></member>
+      <member refid="classepdf_1d8eb760037b3bad5a0d64081606697cd" prot="public" virt="non-virtual"><scope>egamma</scope><name>epdf</name></member>
+      <member refid="classepdf_1c95b1a27a8dd9507bb9a5a3cb2809c7a" prot="public" virt="non-virtual"><scope>egamma</scope><name>epdf</name></member>
+      <member refid="classepdf_13ea597362e11a0040fe7c990269d072c" prot="public" virt="virtual"><scope>egamma</scope><name>eval</name></member>
+      <member refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" prot="public" virt="virtual"><scope>egamma</scope><name>evalpdflog</name></member>
+      <member refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" prot="public" virt="virtual"><scope>egamma</scope><name>lognc</name></member>
+      <member refid="classegamma_16ab5ba56f7cdb2e5921c3e77524fa50a" prot="public" virt="virtual"><scope>egamma</scope><name>mean</name></member>
+      <member refid="classepdf_174da992e3f5d598da8850b646b79b9d9" prot="protected" virt="non-virtual"><scope>egamma</scope><name>rv</name></member>
+      <member refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" prot="public" virt="virtual"><scope>egamma</scope><name>sample</name></member>
+      <member refid="classepdf_154d7dd53a641b618771cd9bee135181f" prot="public" virt="virtual"><scope>egamma</scope><name>sampleN</name></member>
+      <member refid="classegamma_18e348b89be82b70471fe8c5630f61339" prot="public" virt="non-virtual"><scope>egamma</scope><name>set_parameters</name></member>
+      <member refid="classeEF_1fd88bc35550ec8fe9281d358216d0fcf" prot="public" virt="virtual"><scope>egamma</scope><name>tupdate</name></member>
+      <member refid="classepdf_10a322dd106f04c0a2915e3d4f4227396" prot="public" virt="virtual"><scope>egamma</scope><name>~epdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/rv__test_8cpp.xml
===================================================================
--- /doc/xml/rv__test_8cpp.xml (revision 187)
+++ /doc/xml/rv__test_8cpp.xml (revision 187)
@@ -0,0 +1,126 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="rv__test_8cpp" kind="file">
+    <compoundname>rv_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libBM_8h" local="yes">../bdm/stat/libBM.h</includes>
+    <includes refid="libDC_8h" local="yes">../bdm/math/libDC.h</includes>
+    <includes refid="chmat_8h" local="yes">../bdm/math/chmat.h</includes>
+    <incdepgraph>
+      <node id="849">
+        <label>../bdm/stat/libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="848" relation="include">
+        </childnode>
+      </node>
+      <node id="852">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="848" relation="include">
+        </childnode>
+      </node>
+      <node id="847">
+        <label>work/git/mixpp/tests/rv_test.cpp</label>
+        <link refid="rv_test.cpp"/>
+        <childnode refid="848" relation="include">
+        </childnode>
+        <childnode refid="849" relation="include">
+        </childnode>
+        <childnode refid="850" relation="include">
+        </childnode>
+        <childnode refid="851" relation="include">
+        </childnode>
+      </node>
+      <node id="848">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="851">
+        <label>../bdm/math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="848" relation="include">
+        </childnode>
+        <childnode refid="850" relation="include">
+        </childnode>
+        <childnode refid="852" relation="include">
+        </childnode>
+      </node>
+      <node id="850">
+        <label>../bdm/math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="848" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="rv__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/rv_test.cpp" line="13" bodyfile="/home/smidl/work/git/mixpp/tests/rv_test.cpp" bodystart="12" bodyend="49"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../bdm/stat/libBM.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../bdm/math/libDC.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../bdm/math/chmat.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>a<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{a<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;3&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>b<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{b<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>c<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{c<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ef<sp/>=<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>(</highlight><highlight class="stringliteral">&quot;{e<sp/>f<sp/>}&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Add<sp/>a<sp/>and<sp/>b&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ab<sp/>=<sp/>a;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ab.<ref refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" kindref="member" tooltip="Add (concat) another variable to the current one,.">add</ref>(b);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ab<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Concat<sp/>a,b<sp/>and<sp/>c<sp/>&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>abc<sp/>=<sp/>concat(ab,c);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>abc<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Structure<sp/>of<sp/>a,b,c<sp/>&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>s<sp/>=abc.<ref refid="classRV_152f3ade796814da627ff5a44d00986be" kindref="member" tooltip="generate str from rv, by expanding sizes">tostr</ref>();</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>s.<ref refid="classstr_18c4e7241505999c272eb15e586ba7923" kindref="member">ids</ref><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>s.<ref refid="classstr_1a55be419d33638dd0b2de3ecd64a4f27" kindref="member">times</ref><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Find<sp/>a<sp/>in<sp/>abc<sp/>&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>a.<ref refid="classRV_10c493a7a897f4d75682f4264e40779a1" kindref="member" tooltip="Find indexes of self in another rv,.">findself</ref>(abc)&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Find<sp/>abc<sp/>in<sp/>a<sp/>&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>abc.<ref refid="classRV_10c493a7a897f4d75682f4264e40779a1" kindref="member" tooltip="Find indexes of self in another rv,.">findself</ref>(a)&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Subtract<sp/>b<sp/>from<sp/>abc&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ac<sp/>=<sp/>abc.<ref refid="classRV_1a85c47bd838ebbdcb6798d7843e87db2" kindref="member" tooltip="Subtract another variable from the current one.">subt</ref>(b);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ac<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Data<sp/>index<sp/>of<sp/>ac<sp/>in<sp/>abc&quot;</highlight><highlight class="normal">&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ac.<ref refid="classRV_11844ea0d9c10428f5e0ee1d4d569ef0a" kindref="member" tooltip="generate indeces into">dataind</ref>(abc)<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//getchar();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/rv_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_2fb3beb803bff171408383e2b63dfbbb.xml
===================================================================
--- /doc/xml/dir_2fb3beb803bff171408383e2b63dfbbb.xml (revision 187)
+++ /doc/xml/dir_2fb3beb803bff171408383e2b63dfbbb.xml (revision 187)
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_2fb3beb803bff171408383e2b63dfbbb" kind="dir">
+    <compoundname>work/mixpp/bdm/math/</compoundname>
+    <innerfile refid="chmat_8cpp">chmat.cpp</innerfile>
+    <innerfile refid="chmat_8h">chmat.h</innerfile>
+    <innerfile refid="libDC_8cpp">libDC.cpp</innerfile>
+    <innerfile refid="libDC_8h">libDC.h</innerfile>
+    <innerfile refid="R__rgamma_8c">R_rgamma.c</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/bdm/math/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/matlab_2mex_2arx_8cpp.xml
===================================================================
--- /doc/xml/matlab_2mex_2arx_8cpp.xml (revision 187)
+++ /doc/xml/matlab_2mex_2arx_8cpp.xml (revision 187)
@@ -0,0 +1,165 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="matlab_2mex_2arx_8cpp" kind="file">
+    <compoundname>arx.cpp</compoundname>
+    <includes local="no">itpp/itcomm.h</includes>
+    <includes local="no">itpp/itmex.h</includes>
+    <includes refid="arx_8h" local="yes">../../bdm/estim/arx.h</includes>
+    <incdepgraph>
+      <node id="199">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="197" relation="include">
+        </childnode>
+      </node>
+      <node id="195">
+        <label>itpp/itmex.h</label>
+      </node>
+      <node id="202">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="197" relation="include">
+        </childnode>
+      </node>
+      <node id="193">
+        <label>work/git/mixpp/matlab/mex/arx.cpp</label>
+        <link refid="matlab/mex/arx.cpp"/>
+        <childnode refid="194" relation="include">
+        </childnode>
+        <childnode refid="195" relation="include">
+        </childnode>
+        <childnode refid="196" relation="include">
+        </childnode>
+      </node>
+      <node id="200">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="197" relation="include">
+        </childnode>
+        <childnode refid="201" relation="include">
+        </childnode>
+        <childnode refid="199" relation="include">
+        </childnode>
+        <childnode refid="202" relation="include">
+        </childnode>
+      </node>
+      <node id="196">
+        <label>../../bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="197" relation="include">
+        </childnode>
+        <childnode refid="198" relation="include">
+        </childnode>
+        <childnode refid="200" relation="include">
+        </childnode>
+      </node>
+      <node id="198">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="197" relation="include">
+        </childnode>
+        <childnode refid="199" relation="include">
+        </childnode>
+      </node>
+      <node id="197">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="194">
+        <label>itpp/itcomm.h</label>
+      </node>
+      <node id="201">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="197" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="matlab_2mex_2arx_8cpp_182033299688d607730e08333ff7471f8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mexFunction</definition>
+        <argsstring>(int n_output, mxArray *output[], int n_input, const mxArray *input[])</argsstring>
+        <name>mexFunction</name>
+        <param>
+          <type>int</type>
+          <declname>n_output</declname>
+        </param>
+        <param>
+          <type>mxArray *</type>
+          <declname>output</declname>
+          <array>[]</array>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n_input</declname>
+        </param>
+        <param>
+          <type>const mxArray *</type>
+          <declname>input</declname>
+          <array>[]</array>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/arx.cpp" line="8" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/arx.cpp" bodystart="8" bodyend="47"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itcomm.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itmex.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../../bdm/estim/arx.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mexFunction<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_output,<sp/>mxArray<sp/>*output[],<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_input,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mxArray<sp/>*input[]<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Check<sp/>the<sp/>number<sp/>of<sp/>inputs<sp/>and<sp/>output<sp/>arguments</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&lt;1<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>output<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_input!=1<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>input<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>input<sp/>variables<sp/>to<sp/>IT++<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data<sp/>=<sp/>mxArray2mat<sp/>(<sp/>input[0]<sp/>);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows();</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/>V0<sp/>(<sp/>0,0<sp/>)<sp/>*=100.0;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=npsi;</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>estimate</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;ndat;i++<sp/>)<sp/>{Ar.bayes<sp/>(<sp/>Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);<sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>th<sp/>=<sp/>Ar._epdf().mean();</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>output<sp/>vectors</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[0]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>1,th.length(),<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>the<sp/>IT++<sp/>format<sp/>to<sp/>Matlab<sp/>format<sp/>for<sp/>output</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec2mxArray<sp/>(<sp/>th,<sp/>output[0]<sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&gt;1<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ll=Ar._tll();</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[1]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>1,1,<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>double2mxArray<sp/>(<sp/>ll,<sp/>output[1]<sp/>);</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&gt;2<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/><ref refid="classstr" kindref="compound" tooltip="Structure of RV (used internally).">str</ref><sp/>=<sp/>Ar.structure_est<sp/>(<sp/><ref refid="classegiw" kindref="compound" tooltip="Gauss-inverse-Wishart density stored in LD form.">egiw</ref><sp/>(<sp/>thr,V0,nu0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[2]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>1,str.length(),<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec2mxArray<sp/>(<sp/>str,<sp/>output[2]<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/mex/arx.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classTransport.xml
===================================================================
--- /doc/xml/classTransport.xml (revision 187)
+++ /doc/xml/classTransport.xml (revision 187)
@@ -0,0 +1,109 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classTransport" kind="class" prot="public">
+    <compoundname>Transport</compoundname>
+    <derivedcompoundref refid="classBike" prot="public" virt="non-virtual">Bike</derivedcompoundref>
+    <derivedcompoundref refid="classCar" prot="public" virt="non-virtual">Car</derivedcompoundref>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classTransport_170cae36f44aac2f8acb03ac65acf2a26" prot="public" static="no" mutable="no">
+        <type>const int</type>
+        <definition>const int Transport::year</definition>
+        <argsstring></argsstring>
+        <name>year</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classTransport_1b0465cd394405877c611959dde903d75" prot="public" static="no" mutable="no">
+        <type>const string</type>
+        <definition>const string Transport::manufacturer</definition>
+        <argsstring></argsstring>
+        <name>manufacturer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="11" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classTransport_1e02bf118eb273cccfa2ec0329dca763f" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>Transport::Transport</definition>
+        <argsstring>(int year, string manufacturer)</argsstring>
+        <name>Transport</name>
+        <param>
+          <type>int</type>
+          <declname>year</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>manufacturer</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="15" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="13" bodyend="16"/>
+      </memberdef>
+      <memberdef kind="function" id="classTransport_1ad4585ba2314080d6b2916a7c667a720" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void Transport::ToString</definition>
+        <argsstring>()=0</argsstring>
+        <name>ToString</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="18"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1314">
+        <label>Bike</label>
+        <childnode refid="1313" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1315">
+        <label>Car</label>
+        <childnode refid="1313" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1313">
+        <label>Transport</label>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1317">
+        <label>string</label>
+      </node>
+      <node id="1316">
+        <label>Transport</label>
+        <childnode refid="1317" relation="usage">
+          <edgelabel>manufacturer</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="8" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="7" bodyend="19"/>
+    <listofallmembers>
+      <member refid="classTransport_1b0465cd394405877c611959dde903d75" prot="public" virt="non-virtual"><scope>Transport</scope><name>manufacturer</name></member>
+      <member refid="classTransport_1ad4585ba2314080d6b2916a7c667a720" prot="public" virt="pure-virtual"><scope>Transport</scope><name>ToString</name></member>
+      <member refid="classTransport_1e02bf118eb273cccfa2ec0329dca763f" prot="public" virt="non-virtual"><scope>Transport</scope><name>Transport</name></member>
+      <member refid="classTransport_170cae36f44aac2f8acb03ac65acf2a26" prot="public" virt="non-virtual"><scope>Transport</scope><name>year</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_1bf4ce5cf47ee1edffaebb326e242b3b.xml
===================================================================
--- /doc/xml/dir_1bf4ce5cf47ee1edffaebb326e242b3b.xml (revision 187)
+++ /doc/xml/dir_1bf4ce5cf47ee1edffaebb326e242b3b.xml (revision 187)
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_1bf4ce5cf47ee1edffaebb326e242b3b" kind="dir">
+    <compoundname>work/mixpp/</compoundname>
+    <innerdir refid="dir_4c8121b198cf3cf9b51dfa0b42c3d639">work/mixpp/bdm/</innerdir>
+    <innerdir refid="dir_1534e176418f8276fa79ad7eed7ef0bd">work/mixpp/CMakeFiles/</innerdir>
+    <innerdir refid="dir_63443739122be43962e98099350a59b8">work/mixpp/matlab/</innerdir>
+    <innerdir refid="dir_5e53796be1b4c047e8d6be4070dae7ad">work/mixpp/pmsm/</innerdir>
+    <innerdir refid="dir_3916c57e55130d88bce5f7c80c305388">work/mixpp/tests/</innerdir>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classDoubleAttribute.xml
===================================================================
--- /doc/xml/classDoubleAttribute.xml (revision 187)
+++ /doc/xml/classDoubleAttribute.xml (revision 187)
@@ -0,0 +1,165 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classDoubleAttribute" kind="class" prot="public">
+    <compoundname>DoubleAttribute</compoundname>
+    <basecompoundref refid="classAttribute" prot="public" virt="non-virtual">Attribute</basecompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classDoubleAttribute_10ba8ddbd7fc2c6054159e695077ea6a2" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double DoubleAttribute::value</definition>
+        <argsstring></argsstring>
+        <name>value</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="102" bodyend="-1"/>
+        <referencedby refid="classEngineUI_1ba55eba106280ea1ae26b0a93df101e1" compoundref="testUI_8cpp" startline="32" endline="35">EngineUI::build</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classDoubleAttribute_1477840edfdc4b11f5c634d15fedaece1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>DoubleAttribute::DoubleAttribute</definition>
+        <argsstring>(const string name)</argsstring>
+        <name>DoubleAttribute</name>
+        <param>
+          <type>const string</type>
+          <declname>name</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="92" bodyend="96"/>
+      </memberdef>
+      <memberdef kind="function" id="classDoubleAttribute_17d921d52c0ea0765aa26775ddeaaf6e9" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>void</type>
+        <definition>void DoubleAttribute::Set</definition>
+        <argsstring>(const string str)</argsstring>
+        <name>Set</name>
+        <reimplements refid="classAttribute_1bfb68f3502af06cda0f61390526e1c2f">Set</reimplements>
+        <param>
+          <type>const string</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+<para>Set accessor to this attribute converting input string into a properly-typed value. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="104" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="98" bodyend="101"/>
+      </memberdef>
+      <memberdef kind="function" id="classDoubleAttribute_1b1eca4e8345b1f09e6966c4ff6f32e21" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>const string</type>
+        <definition>const string DoubleAttribute::Get</definition>
+        <argsstring>()</argsstring>
+        <name>Get</name>
+        <reimplements refid="classAttribute_1ebeef001a0f4176900f643f529c549b8">Get</reimplements>
+        <briefdescription>
+<para>Get accessor converting stored value into a string. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="105" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="103" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_1abd94a0487d662f28264f4faa214d894" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Attribute::Attach</definition>
+        <argsstring>(MappedAttributes &amp;externalAttributes)</argsstring>
+        <name>Attach</name>
+        <param>
+          <type><ref refid="classAttribute_1342750acf29e4c37d009301ef5075111" kindref="member">MappedAttributes</ref> &amp;</type>
+          <declname>externalAttributes</declname>
+        </param>
+        <briefdescription>
+<para>This method is the key method to connect the attribute to the related UI element. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="73" bodyend="77"/>
+      </memberdef>
+      <memberdef kind="function" id="classAttribute_1387a68e5de7b1e31022022493f00cbff" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void Attribute::FillAttribute</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>FillAttribute</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method add and DOMAttribute node to the DOMElement passed as an argument. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="79" bodyend="90"/>
+        <references refid="classAttribute_1ebeef001a0f4176900f643f529c549b8">Attribute::Get</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-type">
+      <memberdef kind="typedef" id="classAttribute_1342750acf29e4c37d009301ef5075111" prot="public" static="no">
+        <type>map&lt; const XMLCh *const, <ref refid="classAttribute" kindref="compound">Attribute</ref> *const, GlobalXercesConnector::Comparator &gt;</type>
+        <definition>typedef map&lt;const XMLCh* const, Attribute* const, GlobalXercesConnector::Comparator&gt; Attribute::MappedAttributes</definition>
+        <argsstring></argsstring>
+        <name>MappedAttributes</name>
+        <briefdescription>
+<para>Type definition of mapping which transforms names to the related attributes. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="79" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class encapsulating all the necessary stuff to work with the double attribute. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="649">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+      </node>
+      <node id="648">
+        <label>DoubleAttribute</label>
+        <link refid="classDoubleAttribute"/>
+        <childnode refid="649" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="651">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+      </node>
+      <node id="650">
+        <label>DoubleAttribute</label>
+        <link refid="classDoubleAttribute"/>
+        <childnode refid="651" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="100" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="99" bodyend="106"/>
+    <listofallmembers>
+      <member refid="classAttribute_1abd94a0487d662f28264f4faa214d894" prot="public" virt="non-virtual"><scope>DoubleAttribute</scope><name>Attach</name></member>
+      <member refid="classAttribute_131c94d75bbe6b2834b1ef633cb8565fb" prot="public" virt="non-virtual"><scope>DoubleAttribute</scope><name>Attribute</name></member>
+      <member refid="classDoubleAttribute_1477840edfdc4b11f5c634d15fedaece1" prot="public" virt="non-virtual"><scope>DoubleAttribute</scope><name>DoubleAttribute</name></member>
+      <member refid="classAttribute_1387a68e5de7b1e31022022493f00cbff" prot="public" virt="non-virtual"><scope>DoubleAttribute</scope><name>FillAttribute</name></member>
+      <member refid="classDoubleAttribute_1b1eca4e8345b1f09e6966c4ff6f32e21" prot="public" virt="virtual"><scope>DoubleAttribute</scope><name>Get</name></member>
+      <member refid="classAttribute_1342750acf29e4c37d009301ef5075111" prot="public" virt="non-virtual"><scope>DoubleAttribute</scope><name>MappedAttributes</name></member>
+      <member refid="classDoubleAttribute_17d921d52c0ea0765aa26775ddeaaf6e9" prot="public" virt="virtual"><scope>DoubleAttribute</scope><name>Set</name></member>
+      <member refid="classDoubleAttribute_10ba8ddbd7fc2c6054159e695077ea6a2" prot="public" virt="non-virtual"><scope>DoubleAttribute</scope><name>value</name></member>
+      <member refid="classAttribute_128ab087bb886728670e4ae5791bc2ea8" prot="public" virt="non-virtual"><scope>DoubleAttribute</scope><name>~Attribute</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classBM.xml
===================================================================
--- /doc/xml/classBM.xml (revision 187)
+++ /doc/xml/classBM.xml (revision 187)
@@ -0,0 +1,360 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classBM" kind="class" prot="public">
+    <compoundname>BM</compoundname>
+    <derivedcompoundref refid="classARX" prot="public" virt="non-virtual">ARX</derivedcompoundref>
+    <derivedcompoundref refid="classEKFfixed" prot="public" virt="non-virtual">EKFfixed</derivedcompoundref>
+    <derivedcompoundref refid="classEKFfull" prot="public" virt="non-virtual">EKFfull</derivedcompoundref>
+    <derivedcompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; sq_T &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; chmat &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; fsqmat &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classKalman" prot="public" virt="non-virtual">Kalman&lt; ldmat &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classPF" prot="public" virt="non-virtual">PF</derivedcompoundref>
+    <includes refid="libBM_8h" local="no">libBM.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>BM::BM</definition>
+        <argsstring>(const RV &amp;rv0)</argsstring>
+        <name>BM</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="272" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="272" bodyend="273"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void BM::bayes</definition>
+        <argsstring>(const vec &amp;dt)=0</argsstring>
+        <name>bayes</name>
+        <reimplementedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c">bayes</reimplementedby>
+        <reimplementedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c">bayes</reimplementedby>
+        <reimplementedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c">bayes</reimplementedby>
+        <reimplementedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028">bayes</reimplementedby>
+        <reimplementedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623">bayes</reimplementedby>
+        <reimplementedby refid="classPF_164f636bbd63bea9efd778214e6b631d3">bayes</reimplementedby>
+        <reimplementedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1">bayes</reimplementedby>
+        <reimplementedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7">bayes</reimplementedby>
+        <reimplementedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0">bayes</reimplementedby>
+        <reimplementedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1">bayes</reimplementedby>
+        <reimplementedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c">bayes</reimplementedby>
+        <reimplementedby refid="classARX_1ba82c956ca893826811aefe1e4af465d">bayes</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Incremental Bayes rule. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>dt</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>vector of input data </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="278"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_13dc45554556926bde996a267636abe55" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>virtual epdf&amp; BM::_epdf</definition>
+        <argsstring>()=0</argsstring>
+        <name>_epdf</name>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classEKFfixed_1085cf16c573eda32d8d03619c6c4b518">_epdf</reimplementedby>
+        <reimplementedby refid="classMPF_1549e08268a46a250f21a33d06f19276a">_epdf</reimplementedby>
+        <reimplementedby refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2">_epdf</reimplementedby>
+        <reimplementedby refid="classKalman_1a213c57aef55b2645e550bed81cfc0d4">_epdf</reimplementedby>
+        <reimplementedby refid="classARX_19d8eff7a9df81786191a4c55b27e5b8a">_epdf</reimplementedby>
+        <briefdescription>
+<para>Returns a pointer to the <ref refid="classepdf" kindref="compound">epdf</ref> representing posterior density on parameters. Use with care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="282"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type></type>
+        <definition>virtual BM::~BM</definition>
+        <argsstring>()</argsstring>
+        <name>~BM</name>
+        <briefdescription>
+<para>Destructor for future use;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="285" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="285" bodyend="285"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">ll</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="712">
+        <label>EKF&lt; sq_T &gt;</label>
+        <link refid="classEKF"/>
+        <childnode refid="711" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="711">
+        <label>Kalman&lt; fsqmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="703" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="709">
+        <label>EKFCh</label>
+        <link refid="classEKFCh"/>
+        <childnode refid="708" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="697">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="699">
+        <label>EKFfixed</label>
+        <link refid="classEKFfixed"/>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="714">
+        <label>MPF&lt; BM_T &gt;</label>
+        <link refid="classMPF"/>
+        <childnode refid="713" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="701">
+        <label>EKF_unQful</label>
+        <childnode refid="700" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="706">
+        <label>KFcondR</label>
+        <link refid="classKFcondR"/>
+        <childnode refid="704" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="713">
+        <label>PF</label>
+        <link refid="classPF"/>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="710">
+        <label>EKF_unQ</label>
+        <link refid="classEKF__unQ"/>
+        <childnode refid="709" relation="public-inheritance">
+        </childnode>
+        <childnode refid="709" relation="public-inheritance">
+        </childnode>
+        <childnode refid="709" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="705">
+        <label>KFcondQR</label>
+        <link refid="classKFcondQR"/>
+        <childnode refid="704" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="708">
+        <label>KalmanCh</label>
+        <link refid="classKalmanCh"/>
+        <childnode refid="707" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="704">
+        <label>Kalman&lt; ldmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="703" relation="template-instance">
+          <edgelabel>&lt; ldmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="707">
+        <label>Kalman&lt; chmat &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="703" relation="template-instance">
+          <edgelabel>&lt; chmat &gt;</edgelabel>
+        </childnode>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="703">
+        <label>Kalman&lt; sq_T &gt;</label>
+        <link refid="classKalman"/>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="702">
+        <label>EKFful_unQR</label>
+        <link refid="classEKFful__unQR"/>
+        <childnode refid="700" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="700">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="698">
+        <label>ARX</label>
+        <link refid="classARX"/>
+        <childnode refid="697" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="715">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="716" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="716">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="261" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="261" bodyend="290"/>
+    <listofallmembers>
+      <member refid="classBM_13dc45554556926bde996a267636abe55" prot="public" virt="pure-virtual"><scope>BM</scope><name>_epdf</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>BM</scope><name>_ll</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>BM</scope><name>_rv</name></member>
+      <member refid="classBM_1a892eff438aab2dd1a9e2efcb7fb5bdf" prot="public" virt="pure-virtual"><scope>BM</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual"><scope>BM</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>BM</scope><name>BM</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>BM</scope><name>evalll</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>BM</scope><name>ll</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>BM</scope><name>rv</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>BM</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/linefit_8cpp.xml
===================================================================
--- /doc/xml/linefit_8cpp.xml (revision 187)
+++ /doc/xml/linefit_8cpp.xml (revision 187)
@@ -0,0 +1,186 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="linefit_8cpp" kind="file">
+    <compoundname>linefit.cpp</compoundname>
+    <includes local="no">itpp/itmex.h</includes>
+    <includes refid="arx_8h" local="yes">../../bdm/estim/arx.h</includes>
+    <incdepgraph>
+      <node id="520">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="518" relation="include">
+        </childnode>
+      </node>
+      <node id="516">
+        <label>itpp/itmex.h</label>
+      </node>
+      <node id="515">
+        <label>work/git/mixpp/matlab/mex/linefit.cpp</label>
+        <link refid="linefit.cpp"/>
+        <childnode refid="516" relation="include">
+        </childnode>
+        <childnode refid="517" relation="include">
+        </childnode>
+      </node>
+      <node id="523">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="518" relation="include">
+        </childnode>
+      </node>
+      <node id="521">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="518" relation="include">
+        </childnode>
+        <childnode refid="522" relation="include">
+        </childnode>
+        <childnode refid="520" relation="include">
+        </childnode>
+        <childnode refid="523" relation="include">
+        </childnode>
+      </node>
+      <node id="517">
+        <label>../../bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="518" relation="include">
+        </childnode>
+        <childnode refid="519" relation="include">
+        </childnode>
+        <childnode refid="521" relation="include">
+        </childnode>
+      </node>
+      <node id="519">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="518" relation="include">
+        </childnode>
+        <childnode refid="520" relation="include">
+        </childnode>
+      </node>
+      <node id="518">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="522">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="518" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="linefit_8cpp_182033299688d607730e08333ff7471f8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mexFunction</definition>
+        <argsstring>(int n_output, mxArray *output[], int n_input, const mxArray *input[])</argsstring>
+        <name>mexFunction</name>
+        <param>
+          <type>int</type>
+          <declname>n_output</declname>
+        </param>
+        <param>
+          <type>mxArray *</type>
+          <declname>output</declname>
+          <array>[]</array>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n_input</declname>
+        </param>
+        <param>
+          <type>const mxArray *</type>
+          <declname>input</declname>
+          <array>[]</array>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/mex/linefit.cpp" line="7" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/linefit.cpp" bodystart="7" bodyend="74"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itmex.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../../bdm/estim/arx.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>mexFunction<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_output,<sp/>mxArray<sp/>*output[],<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n_input,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mxArray<sp/>*input[]<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Check<sp/>the<sp/>number<sp/>of<sp/>inputs<sp/>and<sp/>output<sp/>arguments</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&lt;1<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>output<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_input!=3<sp/>)<sp/>mexErrMsgTxt<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Wrong<sp/>number<sp/>of<sp/>input<sp/>variables!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>input<sp/>variables<sp/>to<sp/>IT++<sp/>format</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data<sp/>=<sp/>mxArray2mat<sp/>(<sp/>input[0]<sp/>);</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Data.rows()!=2)</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>{<sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Data.cols()==2)<sp/>Data=Data.T();<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>mexErrMsgTxt(</highlight><highlight class="stringliteral">&quot;Data<sp/>are<sp/>not<sp/>2D!&quot;</highlight><highlight class="normal">);}</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ilow<sp/>=<sp/>mxArray2int<sp/>(<sp/>input[1]<sp/>);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ihi<sp/>=<sp/>mxArray2int<sp/>(<sp/>input[2]<sp/>);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows()+1;<sp/></highlight><highlight class="comment">//add<sp/>a<sp/>constant</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/>V0<sp/>(<sp/>0,0<sp/>)<sp/>=10.0;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>rgr(npsi);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=npsi+2;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>fitting<sp/>a<sp/>linear<sp/>part<sp/>=&gt;<sp/>third<sp/>coef<sp/>is<sp/>&quot;1&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr(2)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>AR<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>start<sp/>at<sp/>i0</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>gohi=</highlight><highlight class="keyword">true</highlight><highlight class="normal">;<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>golow=</highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>certain<sp/>period<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow;i&lt;ihi;i++){</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector(0,Data.get_col<sp/>(<sp/>i<sp/>));</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>tll=Ar._tll();</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>go<sp/>hi</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">do</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector(0,Data.get_col<sp/>(<sp/>++ihi<sp/>));</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(rgr);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Ar._tll()&gt;tll)<sp/>tll=Ar._tll();</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>gohi=</highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(gohi);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>go<sp/>low</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">do</highlight><highlight class="normal"><sp/>{<sp/></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector(0,Data.get_col<sp/>(<sp/>--ilow<sp/>));</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(rgr);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Ar._tll()&gt;tll)<sp/>tll=Ar._tll();</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>golow=</highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(golow);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>th<sp/>=<sp/>Ar._epdf().mean();</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Create<sp/>output<sp/>vectors</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[0]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>1,th.length(),<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Convert<sp/>the<sp/>IT++<sp/>format<sp/>to<sp/>Matlab<sp/>format<sp/>for<sp/>output</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec2mxArray<sp/>(<sp/>th,<sp/>output[0]<sp/>);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&gt;1<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[1]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>1,1,<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>double2mxArray<sp/>(<sp/>ilow,<sp/>output[1]<sp/>);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>n_output&gt;1<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>output[2]<sp/>=<sp/>mxCreateDoubleMatrix<sp/>(<sp/>1,1,<sp/>mxREAL<sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>double2mxArray<sp/>(<sp/>ihi,<sp/>output[2]<sp/>);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="74"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/mex/linefit.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmgamma.xml
===================================================================
--- /doc/xml/classmgamma.xml (revision 187)
+++ /doc/xml/classmgamma.xml (revision 187)
@@ -0,0 +1,443 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmgamma" kind="class" prot="public">
+    <compoundname>mgamma</compoundname>
+    <basecompoundref refid="classmEF" prot="public" virt="non-virtual">mEF</basecompoundref>
+    <derivedcompoundref refid="classmgamma__fix" prot="public" virt="non-virtual">mgamma_fix</derivedcompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmgamma_1612dbf35c770a780027619aaac2c443e" prot="protected" static="no" mutable="no">
+        <type><ref refid="classegamma" kindref="compound">egamma</ref></type>
+        <definition>egamma mgamma::epdf</definition>
+        <argsstring></argsstring>
+        <name>epdf</name>
+        <briefdescription>
+<para>Internal <ref refid="classepdf" kindref="compound">epdf</ref> that arise by conditioning on <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="261" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="261" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmgamma_143f733cce0245a52363d566099add687" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double mgamma::k</definition>
+        <argsstring></argsstring>
+        <name>k</name>
+        <briefdescription>
+<para>Constant <formula id="41">$k$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="263" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="263" bodyend="-1"/>
+        <referencedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" compoundref="libEF_8h" startline="301" endline="301">mgamma_fix::condition</referencedby>
+        <referencedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" compoundref="libEF_8h" startline="272" endline="272">condition</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmgamma_15e90652837448bcc29707e7412f99691" prot="protected" static="no" mutable="no">
+        <type>vec *</type>
+        <definition>vec* mgamma::_beta</definition>
+        <argsstring></argsstring>
+        <name>_beta</name>
+        <briefdescription>
+<para>cache of epdf.beta </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="265" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="265" bodyend="-1"/>
+        <referencedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" compoundref="libEF_8h" startline="301" endline="301">mgamma_fix::condition</referencedby>
+        <referencedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" compoundref="libEF_8h" startline="272" endline="272">condition</referencedby>
+        <referencedby refid="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" compoundref="libEF_8cpp" startline="106" endline="106">mgamma</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">mpdf::_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf::mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix::mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>mgamma::mgamma</definition>
+        <argsstring>(const RV &amp;rv, const RV &amp;rvc)</argsstring>
+        <name>mgamma</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvc</declname>
+        </param>
+        <briefdescription>
+<para>Constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="269" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="106" bodyend="106"/>
+        <references refid="classmgamma_15e90652837448bcc29707e7412f99691" compoundref="libEF_8h" startline="265">_beta</references>
+      </memberdef>
+      <memberdef kind="function" id="classmgamma_1a9d646cf758a70126dde7c48790b6e94" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mgamma::set_parameters</definition>
+        <argsstring>(double k)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>double</type>
+          <declname>k</declname>
+        </param>
+        <briefdescription>
+<para>Set value of <computeroutput>k</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="271" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="108" bodyend="112"/>
+        <references refid="classmgamma_15e90652837448bcc29707e7412f99691" compoundref="libEF_8h" startline="265">_beta</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classmgamma_143f733cce0245a52363d566099add687" compoundref="libEF_8h" startline="263">k</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" compoundref="libEF_8h" startline="296" endline="299">mgamma_fix::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void mgamma::condition</definition>
+        <argsstring>(const vec &amp;val)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classmpdf_10f95a0cc6ab40611f46804682446ed83">condition</reimplements>
+        <reimplementedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460">condition</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="272" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="272" bodyend="272"/>
+        <references refid="classmgamma_15e90652837448bcc29707e7412f99691" compoundref="libEF_8h" startline="265">_beta</references>
+        <references refid="classmgamma_143f733cce0245a52363d566099add687" compoundref="libEF_8h" startline="263">k</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Gamma random walk. </para>    </briefdescription>
+    <detaileddescription>
+<para>Mean value, <formula id="14">$\mu$</formula>, of this density is given by <computeroutput>rvc</computeroutput> . Standard deviation of the random walk is proportional to one <formula id="41">$k$</formula>-th the mean. This is achieved by setting <formula id="11">$\alpha=k$</formula> and <formula id="12">$\beta=k/\mu$</formula>.</para><para>The standard deviation of the walk is then: <formula id="13">$\mu/\sqrt(k)$</formula>. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1196">
+        <label>mgamma</label>
+        <link refid="classmgamma"/>
+        <childnode refid="1197" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1198">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+      <node id="1197">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1198" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1199">
+        <label>mgamma_fix</label>
+        <link refid="classmgamma__fix"/>
+        <childnode refid="1196" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1204">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1203" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1203">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1200">
+        <label>mgamma</label>
+        <link refid="classmgamma"/>
+        <childnode refid="1201" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1205" relation="usage">
+          <edgelabel>epdf</edgelabel>
+        </childnode>
+      </node>
+      <node id="1202">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1203" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1204" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+      <node id="1205">
+        <label>egamma</label>
+        <link refid="classegamma"/>
+        <childnode refid="1206" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1206">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1204" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1201">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1202" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="258" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="258" bodyend="273"/>
+    <listofallmembers>
+      <member refid="classmgamma_15e90652837448bcc29707e7412f99691" prot="protected" virt="non-virtual"><scope>mgamma</scope><name>_beta</name></member>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mgamma</scope><name>_epdf</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mgamma</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mgamma</scope><name>_rvc</name></member>
+      <member refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" prot="public" virt="virtual"><scope>mgamma</scope><name>condition</name></member>
+      <member refid="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" virt="non-virtual"><scope>mgamma</scope><name>ep</name></member>
+      <member refid="classmgamma_1612dbf35c770a780027619aaac2c443e" prot="protected" virt="non-virtual"><scope>mgamma</scope><name>epdf</name></member>
+      <member refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" virt="virtual"><scope>mgamma</scope><name>evalcond</name></member>
+      <member refid="classmgamma_143f733cce0245a52363d566099add687" prot="protected" virt="non-virtual"><scope>mgamma</scope><name>k</name></member>
+      <member refid="classmEF_18bf51fe8654d7b83c8c8afeb19409d4f" prot="public" virt="non-virtual"><scope>mgamma</scope><name>mEF</name></member>
+      <member refid="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" prot="public" virt="non-virtual"><scope>mgamma</scope><name>mgamma</name></member>
+      <member refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" virt="non-virtual"><scope>mgamma</scope><name>mpdf</name></member>
+      <member refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" virt="non-virtual"><scope>mgamma</scope><name>rv</name></member>
+      <member refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" virt="non-virtual"><scope>mgamma</scope><name>rvc</name></member>
+      <member refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" virt="virtual"><scope>mgamma</scope><name>samplecond</name></member>
+      <member refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" virt="virtual"><scope>mgamma</scope><name>samplecond</name></member>
+      <member refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" prot="public" virt="non-virtual"><scope>mgamma</scope><name>set_parameters</name></member>
+      <member refid="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" virt="virtual"><scope>mgamma</scope><name>~mpdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classTypedUserInfo.xml
===================================================================
--- /doc/xml/classTypedUserInfo.xml (revision 187)
+++ /doc/xml/classTypedUserInfo.xml (revision 187)
@@ -0,0 +1,549 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classTypedUserInfo" kind="class" prot="public">
+    <compoundname>TypedUserInfo</compoundname>
+    <basecompoundref refid="classUserInfo" prot="public" virt="non-virtual">UserInfo</basecompoundref>
+    <derivedcompoundref refid="classCompoundUserInfo" prot="public" virt="non-virtual">CompoundUserInfo&lt; T &gt;</derivedcompoundref>
+    <derivedcompoundref refid="classValuedUserInfo" prot="public" virt="non-virtual">ValuedUserInfo&lt; T &gt;</derivedcompoundref>
+    <includes refid="userinfo_8h" local="no">userinfo.h</includes>
+    <templateparamlist>
+      <param>
+        <type>typename</type>
+        <declname>T</declname>
+        <defname>T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; T &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt;T&gt;&amp; TypedUserInfo&lt; T &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>bool</type>
+        <definition>bool TypedUserInfo&lt; T &gt;::DisassemblyTypelessInstance</definition>
+        <argsstring>(void *pInstance)</argsstring>
+        <name>DisassemblyTypelessInstance</name>
+        <reimplements refid="classUserInfo_15bb7197a620a2159c087f870f89c76e2">DisassemblyTypelessInstance</reimplements>
+        <param>
+          <type>void *</type>
+          <declname>pInstance</declname>
+        </param>
+        <briefdescription>
+<para>internal method disassembling a typeless instance to components which are processed by the &apos;DisassemblyComponentsToXML()&apos; method </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="349" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="348" bodyend="358"/>
+      </memberdef>
+      <memberdef kind="function" id="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95" prot="private" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void *</type>
+        <definition>void* TypedUserInfo&lt; T &gt;::AssemblyTypelessInstance</definition>
+        <argsstring>()</argsstring>
+        <name>AssemblyTypelessInstance</name>
+        <reimplements refid="classUserInfo_161393930549feeb72d7d83350db4e685">AssemblyTypelessInstance</reimplements>
+        <briefdescription>
+<para>internal method assembling a typeless instance from components obtained by the &apos;AssemblyComponentsFromXML()&apos; method </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="361" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="360" bodyend="363"/>
+      </memberdef>
+      <memberdef kind="function" id="classTypedUserInfo_140058634529c8055e592c59708a5d984" prot="private" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>T *</type>
+        <definition>virtual T* TypedUserInfo&lt; T &gt;::AssemblyInstance</definition>
+        <argsstring>()=0</argsstring>
+        <name>AssemblyInstance</name>
+        <briefdescription>
+<para>abstract method assembling a typed instance from components obtained by the &apos;AssemblyComponentsFromXML()&apos; method </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="366"/>
+      </memberdef>
+      <memberdef kind="function" id="classTypedUserInfo_13beee5174ee040ce804ed838bd3089a3" prot="private" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>bool</type>
+        <definition>virtual bool TypedUserInfo&lt; T &gt;::DisassemblyInstance</definition>
+        <argsstring>(T &amp;instance)=0</argsstring>
+        <name>DisassemblyInstance</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <briefdescription>
+<para>abstract method disassembling a typed instance to components which are processed by the &apos;DisassemblyComponentsToXML()&apos; method </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="369"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>TypedUserInfo&lt; T &gt;::TypedUserInfo</definition>
+        <argsstring>(const string &amp;userFriendlyTypeName)</argsstring>
+        <name>TypedUserInfo</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>userFriendlyTypeName</declname>
+        </param>
+        <briefdescription>
+<para>default constructor, which is intentionally declared as protected </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="376"/>
+      </memberdef>
+      <memberdef kind="function" id="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>TypedUserInfo&lt; T &gt;::~TypedUserInfo</definition>
+        <argsstring>()</argsstring>
+        <name>~TypedUserInfo</name>
+        <briefdescription>
+<para>destructor </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="382" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="378" bodyend="383"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::AssemblyComponentsFromXML</definition>
+        <argsstring>(DOMElement &amp;element)=0</argsstring>
+        <name>AssemblyComponentsFromXML</name>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18d9c6bf7f1b043fcd8d3f375f49948e9">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_11d62c74d5f4a83561371376be0f587be">AssemblyComponentsFromXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1159f56d7101091117dcdad68754bc195">AssemblyComponentsFromXML</reimplementedby>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>This method parse DOMElement, finds proper DOMNode and fills binded data accordingly. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="112"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void BindingFrame::ReleaseMemory</definition>
+        <argsstring>()</argsstring>
+        <name>ReleaseMemory</name>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1db347fdb53198e3a44ecdeddced6e273">ReleaseMemory</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_1e5a47de35cae44540b02d4c12fde54e4">ReleaseMemory</reimplementedby>
+        <briefdescription>
+<para>A method for releasing memory allocated within the &apos;AssemblyComponentsFromXML()&apos; method. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="115" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="115" bodyend="115"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>bool</type>
+        <definition>virtual bool BindingFrame::DisassemblyComponentsToXML</definition>
+        <argsstring>(DOMElement &amp;element)=0</argsstring>
+        <name>DisassemblyComponentsToXML</name>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classValuedUserInfo_18dbc439e17a251934160bc505bcaa4a4">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1fc724ac908f5c8c6a0da432f50ae6cbb">DisassemblyComponentsToXML</reimplementedby>
+        <reimplementedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939">DisassemblyComponentsToXML</reimplementedby>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This method reads binded data, fill them into a new DOMNode, which then appends to the passed DOMElement </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="119"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>TypeUserInfo is still an abstract class, but contrary to the <ref refid="classUserInfo" kindref="compound">UserInfo</ref> class it is already templated. It serves as a bridge to non-abstract classes CompoundUserInfo&lt;T&gt; or ValuedUserInfo&lt;T&gt;. </para>    </briefdescription>
+    <detaileddescription>
+<para>There are two important features of this class. The first is a primitive mechanism bounding typeless methods DisassemblyTypelessInstance, resp. AssemblyTypelessInstance, to their typed virtual versions DisassemblyInstance, resp. AssemblyInstance. And the other is the only public attribute of this class, called &apos;instance&apos;, which is to be filled by the only instance of this class. Indeed, it is not possible to create any other instance outside this class (or its descendant classes), as the constructor is intentionally protected. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1325">
+        <label>BikeUI</label>
+        <childnode refid="1324" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1329">
+        <label>ValuedUserInfo&lt; int &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1326" relation="template-instance">
+          <edgelabel>&lt; int &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1336" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1328">
+        <label>DoubleUI</label>
+        <childnode refid="1327" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1318">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1319" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1337">
+        <label>TypedUserInfo&lt; string &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1318" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1324">
+        <label>CompoundUserInfo&lt; Bike &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="1321" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1340" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1338">
+        <label>TypedUserInfo&lt; Car &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1318" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1326">
+        <label>ValuedUserInfo&lt; T &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1318" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1335">
+        <label>TypedUserInfo&lt; double &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1318" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1322">
+        <label>CompoundUserInfo&lt; Car &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="1321" relation="template-instance">
+          <edgelabel>&lt; Car &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1338" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1331">
+        <label>ValuedUserInfo&lt; string &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1326" relation="template-instance">
+          <edgelabel>&lt; string &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1337" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1340">
+        <label>TypedUserInfo&lt; Bike &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1318" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1336">
+        <label>TypedUserInfo&lt; int &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1318" relation="template-instance">
+          <edgelabel>&lt; int &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1333">
+        <label>ValuedUserInfo&lt; bool &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1326" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1339" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1339">
+        <label>TypedUserInfo&lt; bool &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1318" relation="template-instance">
+          <edgelabel>&lt; bool &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="1321">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="1318" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1319">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1320" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="1327">
+        <label>ValuedUserInfo&lt; double &gt;</label>
+        <link refid="classValuedUserInfo"/>
+        <childnode refid="1326" relation="template-instance">
+          <edgelabel>&lt; double &gt;</edgelabel>
+        </childnode>
+        <childnode refid="1335" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1334">
+        <label>BoolUI</label>
+        <childnode refid="1333" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1332">
+        <label>StringUI</label>
+        <childnode refid="1331" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1330">
+        <label>IntUI</label>
+        <childnode refid="1329" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1323">
+        <label>CarUI</label>
+        <childnode refid="1322" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1320">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1344">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="1341">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="1342" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1345">
+        <label>string</label>
+      </node>
+      <node id="1342">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="1343" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="1345" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="1343">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="1344" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="345" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="344" bodyend="388"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>TypedUserInfo</scope><name>Assembly</name></member>
+      <member refid="classBindingFrame_1c6d068c261d4fc3a0a4d1305ade1483d" prot="protected" virt="pure-virtual"><scope>TypedUserInfo</scope><name>AssemblyComponentsFromXML</name></member>
+      <member refid="classTypedUserInfo_140058634529c8055e592c59708a5d984" prot="private" virt="pure-virtual"><scope>TypedUserInfo</scope><name>AssemblyInstance</name></member>
+      <member refid="classTypedUserInfo_1f7b6ca2e33556c78049ea239f9e26d95" prot="private" virt="virtual"><scope>TypedUserInfo</scope><name>AssemblyTypelessInstance</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>TypedUserInfo</scope><name>BindingFrame</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>TypedUserInfo</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>TypedUserInfo</scope><name>Disassembly</name></member>
+      <member refid="classBindingFrame_10c207ed6e5a4c975ed5bc9a758a063ca" prot="protected" virt="pure-virtual"><scope>TypedUserInfo</scope><name>DisassemblyComponentsToXML</name></member>
+      <member refid="classTypedUserInfo_13beee5174ee040ce804ed838bd3089a3" prot="private" virt="pure-virtual"><scope>TypedUserInfo</scope><name>DisassemblyInstance</name></member>
+      <member refid="classTypedUserInfo_1a4c4d3eedb85cd18cab6cb117de74ad2" prot="private" virt="virtual"><scope>TypedUserInfo</scope><name>DisassemblyTypelessInstance</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>TypedUserInfo</scope><name>instance</name></member>
+      <member refid="classBindingFrame_18d4dc5902ee71a473983d6a8fa3c8b7a" prot="protected" virt="virtual"><scope>TypedUserInfo</scope><name>ReleaseMemory</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>TypedUserInfo</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>TypedUserInfo</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>TypedUserInfo</scope><name>UserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>TypedUserInfo</scope><name>XMLCh2str</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>TypedUserInfo</scope><name>~TypedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_2493bdd1bbbe9d69651cba4e8a34b19a.xml
===================================================================
--- /doc/xml/dir_2493bdd1bbbe9d69651cba4e8a34b19a.xml (revision 187)
+++ /doc/xml/dir_2493bdd1bbbe9d69651cba4e8a34b19a.xml (revision 187)
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_2493bdd1bbbe9d69651cba4e8a34b19a" kind="dir">
+    <compoundname>work/git/mixpp/tests/</compoundname>
+    <innerfile refid="arx__test_8cpp">arx_test.cpp</innerfile>
+    <innerfile refid="blas__test_8cpp">blas_test.cpp</innerfile>
+    <innerfile refid="chmat__test_8cpp">chmat_test.cpp</innerfile>
+    <innerfile refid="fsqmat__test_8cpp">fsqmat_test.cpp</innerfile>
+    <innerfile refid="ldmat__test_8cpp">ldmat_test.cpp</innerfile>
+    <innerfile refid="loggers__test_8cpp">loggers_test.cpp</innerfile>
+    <innerfile refid="merger__test_8cpp">merger_test.cpp</innerfile>
+    <innerfile refid="rv__test_8cpp">rv_test.cpp</innerfile>
+    <innerfile refid="test0_8cpp">test0.cpp</innerfile>
+    <innerfile refid="testEpdf_8cpp">testEpdf.cpp</innerfile>
+    <innerfile refid="testKF_8cpp">testKF.cpp</innerfile>
+    <innerfile refid="testKF__QR_8cpp">testKF_QR.cpp</innerfile>
+    <innerfile refid="testKF__QRexh_8cpp">testKF_QRexh.cpp</innerfile>
+    <innerfile refid="testPF_8cpp">testPF.cpp</innerfile>
+    <innerfile refid="testResample_8cpp">testResample.cpp</innerfile>
+    <innerfile refid="testSmp_8cpp">testSmp.cpp</innerfile>
+    <innerfile refid="testUI_8cpp">testUI.cpp</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/tests/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEngineUI.xml
===================================================================
--- /doc/xml/classEngineUI.xml (revision 187)
+++ /doc/xml/classEngineUI.xml (revision 187)
@@ -0,0 +1,314 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEngineUI" kind="class" prot="public">
+    <compoundname>EngineUI</compoundname>
+    <basecompoundref refid="classUserInfo" prot="public" virt="non-virtual">UserInfo&lt; Engine &gt;</basecompoundref>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classEngineUI_1460f39281a1aa18d6d13fa5106121643" prot="public" static="no" mutable="no">
+        <type><ref refid="classStringAttribute" kindref="compound">StringAttribute</ref></type>
+        <definition>StringAttribute EngineUI::producer</definition>
+        <argsstring></argsstring>
+        <name>producer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="20" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="20" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEngineUI_1d045de5c74b161e9a0dafbeb5e1c66de" prot="public" static="no" mutable="no">
+        <type><ref refid="classDoubleAttribute" kindref="compound">DoubleAttribute</ref></type>
+        <definition>DoubleAttribute EngineUI::consumption</definition>
+        <argsstring></argsstring>
+        <name>consumption</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="21" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classUserInfo_1b63907af7cfccefeab209f8381962092" prot="public" static="no" mutable="no">
+        <type><ref refid="classStringAttribute" kindref="compound">StringAttribute</ref></type>
+        <definition>StringAttribute UserInfo&lt; Engine  &gt;::help</definition>
+        <argsstring></argsstring>
+        <name>help</name>
+        <briefdescription>
+<para>Explanation for an user is the only obligatory attribute. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="172" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="172" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEngineUI_1ce4d4902c24f34fc5ca17545a4a0ff83" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>EngineUI::EngineUI</definition>
+        <argsstring>()</argsstring>
+        <name>EngineUI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="23" bodyend="30"/>
+      </memberdef>
+      <memberdef kind="function" id="classEngineUI_1ba55eba106280ea1ae26b0a93df101e1" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>Engine *</type>
+        <definition>Engine* EngineUI::build</definition>
+        <argsstring>()</argsstring>
+        <name>build</name>
+        <reimplements refid="classUserInfo_1a7cab74e8214a87e5f226e9e88ff3d61">build</reimplements>
+        <briefdescription>
+<para>returns object of templated type filled with data stored in this <ref refid="classUserInfo" kindref="compound">UserInfo</ref> instance </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="33" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="32" bodyend="35"/>
+        <references refid="classDoubleAttribute_10ba8ddbd7fc2c6054159e695077ea6a2" compoundref="userinfo_8h" startline="102">DoubleAttribute::value</references>
+        <references refid="classStringAttribute_1e55ae245a8ae9e16236695bd5121f744" compoundref="userinfo_8h" startline="127">StringAttribute::value</references>
+        <referencedby refid="classCarUI_1931b042d42e04cb6ac84ee2a28d8ca3c" compoundref="testUI_8cpp" startline="74" endline="78">CarUI::build</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1089b8a3ad514b17ae564a27328655126" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void UserInfo&lt; Engine  &gt;::Save</definition>
+        <argsstring>(char *fileName)</argsstring>
+        <name>Save</name>
+        <param>
+          <type>char *</type>
+          <declname>fileName</declname>
+        </param>
+        <briefdescription>
+<para>Save <ref refid="classUserInfo" kindref="compound">UserInfo</ref> to the file (typically with an XML extension). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="196" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="195" bodyend="210"/>
+        <references refid="classUserInfo_122ca1ef5a10740e4107cd5a7e9a72856" compoundref="userinfo_8h" startline="292" endline="304">UserInfo&lt; T &gt;::FillElement</references>
+        <references refid="classGlobalXercesConnector_18d2d2a3f1b2a21a9647f7bc4c7e82c73" compoundref="userinfo_8h" startline="36">GlobalXercesConnector::pImplementation</references>
+        <references refid="classGlobalXercesConnector_1c6c620829e2a2fface1bea202b0608a6" compoundref="userinfo_8h" startline="38">GlobalXercesConnector::pSerializer</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1920c54d79132041a520180d083a6c503" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void UserInfo&lt; Engine  &gt;::Load</definition>
+        <argsstring>(char *fileName)</argsstring>
+        <name>Load</name>
+        <param>
+          <type>char *</type>
+          <declname>fileName</declname>
+        </param>
+        <briefdescription>
+<para>Load <ref refid="classUserInfo" kindref="compound">UserInfo</ref> from the file (typically with an XML extension). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="213" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="212" bodyend="248"/>
+        <references refid="classUserInfo_1f673ea7ee23cc87e89d1530f94817800" compoundref="userinfo_8h" startline="256" endline="290">UserInfo&lt; T &gt;::ParseElement</references>
+        <references refid="classGlobalXercesConnector_1ca92055e0f5a5ea3d8cb1c4d6bf0dd51" compoundref="userinfo_8h" startline="40">GlobalXercesConnector::pParser</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_151c1823208b719eec546b98bb855e272" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void UserInfo&lt; Engine  &gt;::Attach</definition>
+        <argsstring>(MappedElements &amp;externalElements)</argsstring>
+        <name>Attach</name>
+        <param>
+          <type>MappedElements &amp;</type>
+          <declname>externalElements</declname>
+        </param>
+        <briefdescription>
+<para>This method is the key method to connect the element to its parent UI element. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="251" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="250" bodyend="254"/>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1f673ea7ee23cc87e89d1530f94817800" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void UserInfo&lt; Engine  &gt;::ParseElement</definition>
+        <argsstring>(DOMElement *element)</argsstring>
+        <name>ParseElement</name>
+        <reimplements refid="classUserInfoCore_1a09a9b965ca04a186143787c0d049a7f">ParseElement</reimplements>
+        <param>
+          <type>DOMElement *</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>Fills internal attributes and descendant elements according DOMElement. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="257" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="256" bodyend="290"/>
+        <references refid="classUserInfo_1aa6753c220a54aba613bfa3cc115d1c8" compoundref="userinfo_8h" startline="168">UserInfo&lt; T &gt;::attributes</references>
+        <references refid="classUserInfo_120783b9cdbef32b584be96851a8f9862" compoundref="userinfo_8h" startline="166">UserInfo&lt; T &gt;::elements</references>
+        <references refid="classGlobalXercesConnector_19800b81014bc6497815e28ad4bd3cf3a" compoundref="userinfo_8cpp" startline="45" endline="51">GlobalXercesConnector::XMLCh2str</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_122ca1ef5a10740e4107cd5a7e9a72856" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void UserInfo&lt; Engine  &gt;::FillElement</definition>
+        <argsstring>(DOMElement &amp;element)</argsstring>
+        <name>FillElement</name>
+        <reimplements refid="classUserInfoCore_1282c9bfd140bd09777aff395158c35ab">FillElement</reimplements>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <briefdescription>
+<para>Fills DOMElement according internal attributes and descendant elements. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="293" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="292" bodyend="304"/>
+        <references refid="classUserInfo_1aa6753c220a54aba613bfa3cc115d1c8" compoundref="userinfo_8h" startline="168">UserInfo&lt; T &gt;::attributes</references>
+        <references refid="classUserInfo_120783b9cdbef32b584be96851a8f9862" compoundref="userinfo_8h" startline="166">UserInfo&lt; T &gt;::elements</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classUserInfo_120783b9cdbef32b584be96851a8f9862" prot="protected" static="no" mutable="no">
+        <type>MappedElements</type>
+        <definition>MappedElements UserInfo&lt; Engine  &gt;::elements</definition>
+        <argsstring></argsstring>
+        <name>elements</name>
+        <briefdescription>
+<para>MappiLength of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="166" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="166" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classUserInfo_1aa6753c220a54aba613bfa3cc115d1c8" prot="protected" static="no" mutable="no">
+        <type><ref refid="classAttribute_1342750acf29e4c37d009301ef5075111" kindref="member">Attribute::MappedAttributes</ref></type>
+        <definition>Attribute::MappedAttributes UserInfo&lt; Engine  &gt;::attributes</definition>
+        <argsstring></argsstring>
+        <name>attributes</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="168" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="168" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>User info for strings. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="833">
+        <label>UserInfoCore</label>
+        <link refid="classUserInfoCore"/>
+      </node>
+      <node id="831">
+        <label>EngineUI</label>
+        <link refid="classEngineUI"/>
+        <childnode refid="832" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="834">
+        <label>UserInfo&lt; T &gt;</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="833" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="832">
+        <label>UserInfo&lt; Engine &gt;</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="833" relation="public-inheritance">
+        </childnode>
+        <childnode refid="834" relation="template-instance">
+          <edgelabel>&lt; Engine &gt;</edgelabel>
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="837">
+        <label>UserInfoCore</label>
+        <link refid="classUserInfoCore"/>
+      </node>
+      <node id="839">
+        <label>Attribute</label>
+        <link refid="classAttribute"/>
+      </node>
+      <node id="835">
+        <label>EngineUI</label>
+        <link refid="classEngineUI"/>
+        <childnode refid="836" relation="public-inheritance">
+        </childnode>
+        <childnode refid="842" relation="usage">
+          <edgelabel>consumption</edgelabel>
+        </childnode>
+        <childnode refid="838" relation="usage">
+          <edgelabel>producer</edgelabel>
+        </childnode>
+      </node>
+      <node id="840">
+        <label>string</label>
+      </node>
+      <node id="838">
+        <label>StringAttribute</label>
+        <link refid="classStringAttribute"/>
+        <childnode refid="839" relation="public-inheritance">
+        </childnode>
+        <childnode refid="840" relation="usage">
+          <edgelabel>value</edgelabel>
+        </childnode>
+      </node>
+      <node id="841">
+        <label>UserInfo&lt; T &gt;</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="837" relation="public-inheritance">
+        </childnode>
+        <childnode refid="838" relation="usage">
+          <edgelabel>help</edgelabel>
+        </childnode>
+      </node>
+      <node id="842">
+        <label>DoubleAttribute</label>
+        <link refid="classDoubleAttribute"/>
+        <childnode refid="839" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="836">
+        <label>UserInfo&lt; Engine &gt;</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="837" relation="public-inheritance">
+        </childnode>
+        <childnode refid="838" relation="usage">
+          <edgelabel>help</edgelabel>
+        </childnode>
+        <childnode refid="841" relation="template-instance">
+          <edgelabel>&lt; Engine &gt;</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="17" bodyend="36"/>
+    <listofallmembers>
+      <member refid="classUserInfo_151c1823208b719eec546b98bb855e272" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>Attach</name></member>
+      <member refid="classUserInfo_1aa6753c220a54aba613bfa3cc115d1c8" prot="protected" virt="non-virtual"><scope>EngineUI</scope><name>attributes</name></member>
+      <member refid="classEngineUI_1ba55eba106280ea1ae26b0a93df101e1" prot="public" virt="virtual"><scope>EngineUI</scope><name>build</name></member>
+      <member refid="classEngineUI_1d045de5c74b161e9a0dafbeb5e1c66de" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>consumption</name></member>
+      <member refid="classUserInfo_120783b9cdbef32b584be96851a8f9862" prot="protected" virt="non-virtual"><scope>EngineUI</scope><name>elements</name></member>
+      <member refid="classEngineUI_1ce4d4902c24f34fc5ca17545a4a0ff83" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>EngineUI</name></member>
+      <member refid="classUserInfo_122ca1ef5a10740e4107cd5a7e9a72856" prot="public" virt="virtual"><scope>EngineUI</scope><name>FillElement</name></member>
+      <member refid="classUserInfo_1b63907af7cfccefeab209f8381962092" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>help</name></member>
+      <member refid="classUserInfo_1920c54d79132041a520180d083a6c503" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>Load</name></member>
+      <member refid="classUserInfo_1f673ea7ee23cc87e89d1530f94817800" prot="public" virt="virtual"><scope>EngineUI</scope><name>ParseElement</name></member>
+      <member refid="classEngineUI_1460f39281a1aa18d6d13fa5106121643" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>producer</name></member>
+      <member refid="classUserInfo_1089b8a3ad514b17ae564a27328655126" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>Save</name></member>
+      <member refid="classUserInfo_115450d05eb4ac5f57c03d3c0707837e1" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>UserInfo</name></member>
+      <member refid="classUserInfo_17583dc01223fcd3dfb2a97d80efe4565" prot="public" virt="non-virtual"><scope>EngineUI</scope><name>~UserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/hello-pskel_8cxx.xml
===================================================================
--- /doc/xml/hello-pskel_8cxx.xml (revision 187)
+++ /doc/xml/hello-pskel_8cxx.xml (revision 187)
@@ -0,0 +1,233 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="hello-pskel_8cxx" kind="file">
+    <compoundname>hello-pskel.cxx</compoundname>
+    <includes refid="hello-pskel_8hxx" local="yes">hello-pskel.hxx</includes>
+    <incdepgraph>
+      <node id="826">
+        <label>xsd/cxx/parser/xerces/elements.hxx</label>
+      </node>
+      <node id="824">
+        <label>xsd/cxx/parser/non-validating/xml-schema-pskel.hxx</label>
+      </node>
+      <node id="823">
+        <label>xsd/cxx/parser/non-validating/parser.hxx</label>
+      </node>
+      <node id="818">
+        <label>xsd/cxx/pre.hxx</label>
+      </node>
+      <node id="827">
+        <label>xsd/cxx/post.hxx</label>
+      </node>
+      <node id="825">
+        <label>xsd/cxx/parser/non-validating/xml-schema-pimpl.hxx</label>
+      </node>
+      <node id="815">
+        <label>work/mixpp/tests/hello-pskel.cxx</label>
+        <link refid="hello-pskel.cxx"/>
+        <childnode refid="816" relation="include">
+        </childnode>
+      </node>
+      <node id="821">
+        <label>xsd/cxx/parser/elements.hxx</label>
+      </node>
+      <node id="817">
+        <label>xsd/cxx/version.hxx</label>
+      </node>
+      <node id="822">
+        <label>xsd/cxx/parser/xml-schema.hxx</label>
+      </node>
+      <node id="816">
+        <label>hello-pskel.hxx</label>
+        <link refid="hello-pskel_8hxx-source"/>
+        <childnode refid="817" relation="include">
+        </childnode>
+        <childnode refid="818" relation="include">
+        </childnode>
+        <childnode refid="819" relation="include">
+        </childnode>
+        <childnode refid="820" relation="include">
+        </childnode>
+        <childnode refid="821" relation="include">
+        </childnode>
+        <childnode refid="822" relation="include">
+        </childnode>
+        <childnode refid="823" relation="include">
+        </childnode>
+        <childnode refid="824" relation="include">
+        </childnode>
+        <childnode refid="825" relation="include">
+        </childnode>
+        <childnode refid="826" relation="include">
+        </childnode>
+        <childnode refid="827" relation="include">
+        </childnode>
+      </node>
+      <node id="819">
+        <label>xsd/cxx/xml/error-handler.hxx</label>
+      </node>
+      <node id="820">
+        <label>xsd/cxx/parser/exceptions.hxx</label>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">//<sp/>Copyright<sp/>(C)<sp/>2005-2008<sp/>Code<sp/>Synthesis<sp/>Tools<sp/>CC</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="comment">//<sp/>This<sp/>program<sp/>was<sp/>generated<sp/>by<sp/>CodeSynthesis<sp/>XSD,<sp/>an<sp/>XML<sp/>Schema<sp/>to</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="comment">//<sp/>C++<sp/>data<sp/>binding<sp/>compiler.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//<sp/>This<sp/>program<sp/>is<sp/>free<sp/>software;<sp/>you<sp/>can<sp/>redistribute<sp/>it<sp/>and/or<sp/>modify</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//<sp/>it<sp/>under<sp/>the<sp/>terms<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>version<sp/>2<sp/>as</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//<sp/>published<sp/>by<sp/>the<sp/>Free<sp/>Software<sp/>Foundation.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="comment">//<sp/>This<sp/>program<sp/>is<sp/>distributed<sp/>in<sp/>the<sp/>hope<sp/>that<sp/>it<sp/>will<sp/>be<sp/>useful,</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//<sp/>but<sp/>WITHOUT<sp/>ANY<sp/>WARRANTY;<sp/>without<sp/>even<sp/>the<sp/>implied<sp/>warranty<sp/>of</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="comment">//<sp/>MERCHANTABILITY<sp/>or<sp/>FITNESS<sp/>FOR<sp/>A<sp/>PARTICULAR<sp/>PURPOSE.<sp/><sp/>See<sp/>the</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>for<sp/>more<sp/>details.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>You<sp/>should<sp/>have<sp/>received<sp/>a<sp/>copy<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="comment">//<sp/>along<sp/>with<sp/>this<sp/>program;<sp/>if<sp/>not,<sp/>write<sp/>to<sp/>the<sp/>Free<sp/>Software</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Foundation,<sp/>Inc.,<sp/>51<sp/>Franklin<sp/>St,<sp/>Fifth<sp/>Floor,<sp/>Boston,<sp/>MA<sp/>02110-1301<sp/>USA</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight><highlight class="comment">//<sp/>In<sp/>addition,<sp/>as<sp/>a<sp/>special<sp/>exception,<sp/>Code<sp/>Synthesis<sp/>Tools<sp/>CC<sp/>gives</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="comment">//<sp/>permission<sp/>to<sp/>link<sp/>this<sp/>program<sp/>with<sp/>the<sp/>Xerces-C++<sp/>library<sp/>(or<sp/>with</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">//<sp/>modified<sp/>versions<sp/>of<sp/>Xerces-C++<sp/>that<sp/>use<sp/>the<sp/>same<sp/>license<sp/>as<sp/>Xerces-C++),</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//<sp/>and<sp/>distribute<sp/>linked<sp/>combinations<sp/>including<sp/>the<sp/>two.<sp/>You<sp/>must<sp/>obey</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight><highlight class="comment">//<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>version<sp/>2<sp/>in<sp/>all<sp/>respects<sp/>for<sp/>all<sp/>of</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="comment">//<sp/>the<sp/>code<sp/>used<sp/>other<sp/>than<sp/>Xerces-C++.<sp/>If<sp/>you<sp/>modify<sp/>this<sp/>copy<sp/>of<sp/>the</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight><highlight class="comment">//<sp/>program,<sp/>you<sp/>may<sp/>extend<sp/>this<sp/>exception<sp/>to<sp/>your<sp/>version<sp/>of<sp/>the<sp/>program,</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">//<sp/>but<sp/>you<sp/>are<sp/>not<sp/>obligated<sp/>to<sp/>do<sp/>so.<sp/>If<sp/>you<sp/>do<sp/>not<sp/>wish<sp/>to<sp/>do<sp/>so,<sp/>delete</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>this<sp/>exception<sp/>statement<sp/>from<sp/>your<sp/>version.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Furthermore,<sp/>Code<sp/>Synthesis<sp/>Tools<sp/>CC<sp/>makes<sp/>a<sp/>special<sp/>exception<sp/>for</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight><highlight class="comment">//<sp/>the<sp/>Free/Libre<sp/>and<sp/>Open<sp/>Source<sp/>Software<sp/>(FLOSS)<sp/>which<sp/>is<sp/>described</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>in<sp/>the<sp/>accompanying<sp/>FLOSSE<sp/>file.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Begin<sp/>prologue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="comment">//<sp/>End<sp/>prologue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;hello-pskel.hxx&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight><highlight class="comment">//<sp/>hello_pskel</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="45"><highlight class="normal">greeting_parser<sp/>(::xml_schema::string_pskel&amp;<sp/>p)</highlight></codeline>
+<codeline lineno="46"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/>this-&gt;greeting_<sp/>=<sp/>&amp;p;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="51"><highlight class="normal">name_parser<sp/>(::xml_schema::string_pskel&amp;<sp/>p)</highlight></codeline>
+<codeline lineno="52"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/>this-&gt;name_<sp/>=<sp/>&amp;p;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="57"><highlight class="normal">parsers<sp/>(::xml_schema::string_pskel&amp;<sp/>greeting,</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>::xml_schema::string_pskel&amp;<sp/>name)</highlight></codeline>
+<codeline lineno="59"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/>this-&gt;greeting_<sp/>=<sp/>&amp;greeting;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/>this-&gt;name_<sp/>=<sp/>&amp;name;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal">hello_pskel::</highlight></codeline>
+<codeline lineno="65"><highlight class="normal">hello_pskel<sp/>()</highlight></codeline>
+<codeline lineno="66"><highlight class="normal">:<sp/>greeting_<sp/>(0),</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/>name_<sp/>(0)</highlight></codeline>
+<codeline lineno="68"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="69"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight><highlight class="comment">//<sp/>hello_pskel</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="75"><highlight class="normal">greeting<sp/>(const<sp/>::std::string&amp;)</highlight></codeline>
+<codeline lineno="76"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="77"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="80"><highlight class="normal">name<sp/>(const<sp/>::std::string&amp;)</highlight></codeline>
+<codeline lineno="81"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="82"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="85"><highlight class="normal">post_hello<sp/>()</highlight></codeline>
+<codeline lineno="86"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="87"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="90"><highlight class="normal">_start_element_impl<sp/>(const<sp/>::xml_schema::ro_string&amp;<sp/>ns,</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>const<sp/>::xml_schema::ro_string&amp;<sp/>n,</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>const<sp/>::xml_schema::ro_string*<sp/>t)</highlight></codeline>
+<codeline lineno="93"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(&amp;t<sp/>==<sp/>0)<sp/></highlight><highlight class="comment">/*<sp/>might<sp/>be<sp/>unused<sp/>*/</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(this-&gt;::xml_schema::complex_content::_start_element_impl<sp/>(ns,<sp/>n,<sp/>t))</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(n<sp/>==<sp/></highlight><highlight class="stringliteral">&quot;greeting&quot;</highlight><highlight class="normal"><sp/>&amp;&amp;<sp/>ns.empty<sp/>())</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/>this-&gt;::xml_schema::complex_content::context_.top<sp/>().parser_<sp/>=<sp/>this-&gt;greeting_;</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(this-&gt;greeting_)</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;greeting_-&gt;pre<sp/>();</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(n<sp/>==<sp/></highlight><highlight class="stringliteral">&quot;name&quot;</highlight><highlight class="normal"><sp/>&amp;&amp;<sp/>ns.empty<sp/>())</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/>this-&gt;::xml_schema::complex_content::context_.top<sp/>().parser_<sp/>=<sp/>this-&gt;name_;</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"></highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(this-&gt;name_)</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;name_-&gt;pre<sp/>();</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"></highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>hello_pskel::</highlight></codeline>
+<codeline lineno="123"><highlight class="normal">_end_element_impl<sp/>(const<sp/>::xml_schema::ro_string&amp;<sp/>ns,</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>const<sp/>::xml_schema::ro_string&amp;<sp/>n)</highlight></codeline>
+<codeline lineno="125"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(this-&gt;::xml_schema::complex_content::_end_element_impl<sp/>(ns,<sp/>n))</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"></highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(n<sp/>==<sp/></highlight><highlight class="stringliteral">&quot;greeting&quot;</highlight><highlight class="normal"><sp/>&amp;&amp;<sp/>ns.empty<sp/>())</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(this-&gt;greeting_)</highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;greeting<sp/>(this-&gt;greeting_-&gt;post_string<sp/>());</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"></highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(n<sp/>==<sp/></highlight><highlight class="stringliteral">&quot;name&quot;</highlight><highlight class="normal"><sp/>&amp;&amp;<sp/>ns.empty<sp/>())</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(this-&gt;name_)</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>this-&gt;name<sp/>(this-&gt;name_-&gt;post_string<sp/>());</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"></highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"></highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">false</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="147"><highlight class="normal"></highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Begin<sp/>epilogue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight><highlight class="comment">//<sp/>End<sp/>epilogue.</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/tests/hello-pskel.cxx"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__unkQpf_8cpp.xml
===================================================================
--- /doc/xml/pmsm__unkQpf_8cpp.xml (revision 187)
+++ /doc/xml/pmsm__unkQpf_8cpp.xml (revision 187)
@@ -0,0 +1,243 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__unkQpf_8cpp" kind="file">
+    <compoundname>pmsm_unkQpf.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
+    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
+    <incdepgraph>
+      <node id="643">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+      </node>
+      <node id="639">
+        <label>work/git/mixpp/pmsm/pmsm_unkQpf.cpp</label>
+        <link refid="pmsm_unkQpf.cpp"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+        <childnode refid="641" relation="include">
+        </childnode>
+        <childnode refid="648" relation="include">
+        </childnode>
+        <childnode refid="642" relation="include">
+        </childnode>
+        <childnode refid="649" relation="include">
+        </childnode>
+      </node>
+      <node id="649">
+        <label>pmsm.h</label>
+        <link refid="pmsm_8h-source"/>
+        <childnode refid="642" relation="include">
+        </childnode>
+      </node>
+      <node id="646">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+      </node>
+      <node id="644">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+        <childnode refid="645" relation="include">
+        </childnode>
+        <childnode refid="643" relation="include">
+        </childnode>
+        <childnode refid="646" relation="include">
+        </childnode>
+      </node>
+      <node id="648">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+        <childnode refid="644" relation="include">
+        </childnode>
+        <childnode refid="645" relation="include">
+        </childnode>
+      </node>
+      <node id="642">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+        <childnode refid="643" relation="include">
+        </childnode>
+      </node>
+      <node id="640">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="647">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+        <childnode refid="645" relation="include">
+        </childnode>
+        <childnode refid="646" relation="include">
+        </childnode>
+      </node>
+      <node id="641">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+        <childnode refid="642" relation="include">
+        </childnode>
+        <childnode refid="644" relation="include">
+        </childnode>
+        <childnode refid="647" relation="include">
+        </childnode>
+      </node>
+      <node id="645">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="640" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <innerclass refid="classEKF__unQ" prot="public">EKF_unQ</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__unkQpf_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQpf.cpp" line="34" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQpf.cpp" bodystart="34" bodyend="116"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
+<codeline lineno="5"><highlight class="comment"></highlight></codeline>
+<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline>
+<codeline lineno="8"><highlight class="comment"></highlight></codeline>
+<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
+<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
+<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="23"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="26" refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" kindref="member" tooltip="Default constructor.">EKF_unQ</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>)<sp/>:<ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQ<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="27" refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>Q0,0<sp/>);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>EKF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};<sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>10000;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>KF;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>internal<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>20*1e-6,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>observation<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;100<sp/>100<sp/>100<sp/>1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.1<sp/>0.1<sp/>0.01<sp/>0.00001&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.02<sp/>0.02&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vQ<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;0.01:0.01:100&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;{Q}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>KFE<sp/>(<sp/>rx,ry,ru,rQ<sp/>);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R<sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1000*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>evolQ<sp/>(<sp/>rQ,rQ<sp/>);</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//evolQ.set_parameters<sp/>(<sp/>10000.0<sp/>);<sp/>//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF&lt;EKF_unQ&gt;</ref><sp/>M<sp/>(<sp/>rx,rQ,evolQ,evolQ,100,KFE<sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>Mep<sp/>=<sp/>M._epdf();</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initialize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>1.0<sp/>);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.condition<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.5<sp/>0.5&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pfinit=evolQ._epdf();</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>pfinit<sp/>);</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>1000.0<sp/>);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator<sp/>values</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);<sp/></highlight><highlight class="comment">//<sp/>output<sp/>(isa<sp/>isb)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>wt<sp/>(<sp/>2<sp/>);<sp/></highlight><highlight class="comment">//<sp/>noise<sp/>on<sp/>dt</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);<sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xt=mu0;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initial<sp/>state</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>et<sp/>(<sp/>4<sp/>);<sp/></highlight><highlight class="comment">//<sp/>noise<sp/>on<sp/>xt</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt=zeros<sp/>(<sp/>4,Ndat<sp/>);<sp/></highlight><highlight class="comment">//<sp/>True<sp/>trajetory<sp/>of<sp/>xt</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtE=zeros<sp/>(<sp/>4,Ndat<sp/>);<sp/></highlight><highlight class="comment">//<sp/>Estimate<sp/>of<sp/>xt<sp/>using<sp/>EKF<sp/>(known<sp/>Q)</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtM=zeros<sp/>(<sp/>6,Ndat<sp/>);<sp/></highlight><highlight class="comment">//<sp/>Estimate<sp/>of<sp/>xt<sp/>using<sp/>EKF-MPF</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col<sp/>(<sp/>0,mu0<sp/>);</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtM.set_col<sp/>(<sp/>0,Mep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>UniRNG.sample_vector<sp/>(<sp/>2,wt<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>rem<sp/>(<sp/>t,500<sp/>)<sp/>&lt;200<sp/>)<sp/>ut<sp/>=<sp/>rem<sp/>(<sp/>t,500<sp/>)<sp/>*ones<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut=zeros<sp/>(<sp/>2<sp/>);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/>4,et<sp/>);</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/>2,wt<sp/>);</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xt<sp/>=<sp/>fxu.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/>xt,ut<sp/>)<sp/>+<sp/>Q.sqrt_mult<sp/>(<sp/>et<sp/>);</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>=<sp/>hxu.<ref refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/>xt,ut<sp/>)<sp/>+<sp/>R.sqrt_mult<sp/>(<sp/>wt<sp/>);</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col<sp/>(<sp/>t,xt<sp/>);</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_col<sp/>(<sp/>t,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtM.set_col<sp/>(<sp/>t,Mep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"></highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;pmsm.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xth&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>Xt;</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xthE&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>XtE;</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xthM&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>XtM;</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"></highlight></codeline>
+<codeline lineno="116"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQpf.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testSmp_8cpp.xml
===================================================================
--- /doc/xml/testSmp_8cpp.xml (revision 187)
+++ /doc/xml/testSmp_8cpp.xml (revision 187)
@@ -0,0 +1,230 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testSmp_8cpp" kind="file">
+    <compoundname>testSmp.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libEF_8h" local="no">stat/libEF.h</includes>
+    <includes refid="emix_8h" local="no">stat/emix.h</includes>
+    <incdepgraph>
+      <node id="920">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="917" relation="include">
+        </childnode>
+      </node>
+      <node id="922">
+        <label>stat/emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="920" relation="include">
+        </childnode>
+        <childnode refid="918" relation="include">
+        </childnode>
+      </node>
+      <node id="921">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="917" relation="include">
+        </childnode>
+      </node>
+      <node id="918">
+        <label>stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="917" relation="include">
+        </childnode>
+        <childnode refid="919" relation="include">
+        </childnode>
+        <childnode refid="920" relation="include">
+        </childnode>
+        <childnode refid="921" relation="include">
+        </childnode>
+      </node>
+      <node id="917">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="916">
+        <label>work/git/mixpp/tests/testSmp.cpp</label>
+        <link refid="testSmp.cpp"/>
+        <childnode refid="917" relation="include">
+        </childnode>
+        <childnode refid="918" relation="include">
+        </childnode>
+        <childnode refid="922" relation="include">
+        </childnode>
+      </node>
+      <node id="919">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="917" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testSmp_8cpp_1e3186ff19d9ad2c3984dbd12c10bd9ad" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void disp</definition>
+        <argsstring>(const vec &amp;tmu, const mat &amp;tR, const mat &amp;Smp)</argsstring>
+        <name>disp</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>tmu</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>tR</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>Smp</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testSmp.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/testSmp.cpp" bodystart="11" bodyend="20"/>
+      </memberdef>
+      <memberdef kind="function" id="testSmp_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testSmp.cpp" line="22" bodyfile="/home/smidl/work/git/mixpp/tests/testSmp.cpp" bodystart="22" bodyend="120"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">stat/libEF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="emix_8h" kindref="compound" tooltip="Probability distributions for Mixtures of pdfs.">stat/emix.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>disp(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;tmu,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;tR,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;Smp){</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>N<sp/>=<sp/>Smp.cols();</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Emu<sp/>=<sp/>Smp*ones(N)<sp/>/N<sp/>;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Er<sp/>=<sp/>(Smp*Smp.transpose())/N<sp/>-<sp/>outer_product(Emu,Emu);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;True<sp/>mu:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>tmu<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Emp<sp/><sp/>mu:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Emu<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;True<sp/>R:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>tR<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;Emp<sp/><sp/>R:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>Er<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>RNG_randomize();</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>x(</highlight><highlight class="stringliteral">&quot;{x<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>y(</highlight><highlight class="stringliteral">&quot;{y<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>N<sp/>=<sp/>10000;<sp/></highlight><highlight class="comment">//number<sp/>of<sp/>samples</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1.5<sp/>1.7&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0(</highlight><highlight class="stringliteral">&quot;1.2<sp/>0.3;<sp/>0.3<sp/>5&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>R<sp/>=<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(V0);</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;======<sp/>ENorm<sp/>======<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classenorm" kindref="compound" tooltip="Gaussian density with positive definite (decomposed) covariance matrix.">enorm&lt;ldmat&gt;</ref><sp/>eN(x);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eN.set_parameters(mu0,R);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Smp<sp/>=<sp/>eN.sample(N);</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(mu0,R.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>(),Smp);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;======<sp/>MlNorm<sp/>======<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>I<sp/>=<sp/>eye(2);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>lik(N);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmlnorm" kindref="compound" tooltip="Normal distributed linear function with linear function of mean value;.">mlnorm&lt;ldmat&gt;</ref><sp/>ML(x,x);</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ML.set_parameters(I,R);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp<sp/>=<sp/>ML.samplecond(mu0,lik,N);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(mu0,R.<ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>(),Smp);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;======<sp/>EGamma<sp/>======<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;<sp/></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>a<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;100000,10000&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>b<sp/>=<sp/>a/10.0;</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classegamma" kindref="compound" tooltip="Gamma posterior density.">egamma</ref><sp/>eG(x);</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eG.set_parameters(a,b);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>eG.eval(a)&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp<sp/>=<sp/>eG.sampleN(N);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>g_mu<sp/>=<sp/>elem_div(a,b);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>g_var<sp/>=<sp/>elem_div(a,pow(b,2.0));</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(g_mu,diag(g_var),Smp);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;======<sp/>MGamma<sp/>======<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;endl;<sp/></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>mG(x,x);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>k<sp/>=<sp/>10.0;</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mG.set_parameters(k);</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"></highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp=mG.samplecond(mu0,lik,N);</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(mu0,pow(mu0,2.0)/k,Smp);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;=======<sp/>EMix<sp/>========<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classemix" kindref="compound" tooltip="Mixture of epdfs.">emix</ref><sp/>eMix(x);</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;epdf*&gt;<sp/>Coms(2);</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Coms(0)<sp/>=<sp/>&amp;eG;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Coms(1)<sp/>=<sp/>&amp;eN;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eMix.set_parameters(vec_2(0.5,0.5),<sp/>Coms);</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>smp<sp/>=<sp/>eMix.sample();</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp<sp/>=<sp/>eMix.sampleN(N);</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(eMix.mean(),zeros(2),Smp);</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;=======<sp/>MEpdf<sp/>========<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmepdf" kindref="compound" tooltip="Unconditional mpdf, allows using epdf in the role of mpdf.">mepdf</ref><sp/>meMix(eMix);</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp<sp/>=<sp/>meMix.samplecond(mu0,lik,N);</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(eMix.mean(),zeros(2),Smp);</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;=======<sp/>MMix<sp/>========<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmmix" kindref="compound" tooltip="Mixture of mpdfs with constant weights, all mpdfs are of equal type.">mmix</ref><sp/>mMix(x,x);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;mpdf*&gt;<sp/>mComs(2);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mComs(0)<sp/>=<sp/>&amp;mG;</highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eN.set_mu(vec_2(0.0,0.0));</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmepdf" kindref="compound" tooltip="Unconditional mpdf, allows using epdf in the role of mpdf.">mepdf</ref><sp/>mEnorm(eN);</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mComs(1)<sp/>=<sp/>&amp;mEnorm;</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mMix.set_parameters(vec_2(0.5,0.5),mComs);</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp<sp/>=<sp/>mMix.samplecond(mu0,lik,N);</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(mMix._epdf().mean(),zeros(2),Smp);</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"></highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;=======<sp/>EProd<sp/>========<sp/>&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>we<sp/>have<sp/>to<sp/>change<sp/>eG.rv<sp/>to<sp/>y</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eG._rv()=<sp/>y;<sp/></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//create<sp/>array<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;mpdf*&gt;<sp/>A(2);</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmepdf" kindref="compound" tooltip="Unconditional mpdf, allows using epdf in the role of mpdf.">mepdf</ref><sp/>meN(eN);</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmepdf" kindref="compound" tooltip="Unconditional mpdf, allows using epdf in the role of mpdf.">mepdf</ref><sp/>meG(eG);</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A(0)<sp/>=<sp/>&amp;meN;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A(1)<sp/>=<sp/>&amp;meG;</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmprod" kindref="compound" tooltip="Chain rule decomposition of epdf.">mprod</ref><sp/>eP(A);</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>epV=zeros(4,4);</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>epV.set_submatrix(0,0,V0);</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>epV.set_submatrix(2,2,diag(g_var));</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp<sp/>=<sp/>eP.samplecond(vec(0),lik,N);</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>disp(eP.mean(),<sp/>epV,Smp);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testSmp.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmgamma__fix.xml
===================================================================
--- /doc/xml/classmgamma__fix.xml (revision 187)
+++ /doc/xml/classmgamma__fix.xml (revision 187)
@@ -0,0 +1,510 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmgamma__fix" kind="class" prot="public">
+    <compoundname>mgamma_fix</compoundname>
+    <basecompoundref refid="classmgamma" prot="public" virt="non-virtual">mgamma</basecompoundref>
+    <includes refid="libEF_8h" local="no">libEF.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double mgamma_fix::l</definition>
+        <argsstring></argsstring>
+        <name>l</name>
+        <briefdescription>
+<para>parameter l </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="289" bodyend="-1"/>
+        <referencedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" compoundref="libEF_8h" startline="301" endline="301">condition</referencedby>
+        <referencedby refid="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" compoundref="libEF_8h" startline="296" endline="299">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" prot="protected" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec mgamma_fix::refl</definition>
+        <argsstring></argsstring>
+        <name>refl</name>
+        <briefdescription>
+<para>reference vector </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="291" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="291" bodyend="-1"/>
+        <referencedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" compoundref="libEF_8h" startline="301" endline="301">condition</referencedby>
+        <referencedby refid="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" compoundref="libEF_8h" startline="296" endline="299">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmgamma_1612dbf35c770a780027619aaac2c443e" prot="protected" static="no" mutable="no">
+        <type><ref refid="classegamma" kindref="compound">egamma</ref></type>
+        <definition>egamma mgamma::epdf</definition>
+        <argsstring></argsstring>
+        <name>epdf</name>
+        <briefdescription>
+<para>Internal <ref refid="classepdf" kindref="compound">epdf</ref> that arise by conditioning on <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="261" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="261" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classmgamma_143f733cce0245a52363d566099add687" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double mgamma::k</definition>
+        <argsstring></argsstring>
+        <name>k</name>
+        <briefdescription>
+<para>Constant <formula id="41">$k$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="263" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="263" bodyend="-1"/>
+        <referencedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" compoundref="libEF_8h" startline="301" endline="301">condition</referencedby>
+        <referencedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" compoundref="libEF_8h" startline="272" endline="272">mgamma::condition</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmgamma_15e90652837448bcc29707e7412f99691" prot="protected" static="no" mutable="no">
+        <type>vec *</type>
+        <definition>vec* mgamma::_beta</definition>
+        <argsstring></argsstring>
+        <name>_beta</name>
+        <briefdescription>
+<para>cache of epdf.beta </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="265" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="265" bodyend="-1"/>
+        <referencedby refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" compoundref="libEF_8h" startline="301" endline="301">condition</referencedby>
+        <referencedby refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97" compoundref="libEF_8h" startline="272" endline="272">mgamma::condition</referencedby>
+        <referencedby refid="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" compoundref="libEF_8cpp" startline="106" endline="106">mgamma::mgamma</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>modeled random variable </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="174" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="174" bodyend="-1"/>
+        <referencedby refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" compoundref="libBM_8h" startline="208" endline="208">mpdf::_rv</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+        <referencedby refid="classmlnorm_1215fb88cc8b95d64cdefd6849abdd1e8" compoundref="libEF_8h" startline="430" endline="444">mlnorm&lt; sq_T &gt;::samplecond</referencedby>
+        <referencedby refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" compoundref="libBM_8h" startline="188" endline="193">mpdf::samplecond</referencedby>
+        <referencedby refid="classmlnorm_1b6749030c5d5abcb3eb6898f74cea3c0" compoundref="libEF_8h" startline="416" endline="419">mlnorm&lt; sq_T &gt;::set_parameters</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::rvc</definition>
+        <argsstring></argsstring>
+        <name>rvc</name>
+        <briefdescription>
+<para>random variable in condition </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="176" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="176" bodyend="-1"/>
+        <referencedby refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" compoundref="libBM_8h" startline="206" endline="206">mpdf::_rvc</referencedby>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" static="no" mutable="no">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> *</type>
+        <definition>epdf* mpdf::ep</definition>
+        <argsstring></argsstring>
+        <name>ep</name>
+        <briefdescription>
+<para>pointer to internal <ref refid="classepdf" kindref="compound">epdf</ref> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="178" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="178" bodyend="-1"/>
+        <referencedby refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" compoundref="libBM_8h" startline="210" endline="210">mpdf::_epdf</referencedby>
+        <referencedby refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" compoundref="libBM_8h" startline="198" endline="198">mpdf::evalcond</referencedby>
+        <referencedby refid="classmepdf_17ab1c50f0aa16230117436dee500f2e0" compoundref="libBM_8h" startline="220" endline="220">mepdf::mepdf</referencedby>
+        <referencedby refid="classmlnorm_1f927203b3f31171c5c10ffc7caa797f5" compoundref="libEF_8h" startline="412" endline="413">mlnorm&lt; sq_T &gt;::mlnorm</referencedby>
+        <referencedby refid="classmmix_16769a962f1f4d0ecc5b903b5f7d26ad3" compoundref="emix_8h" startline="178" endline="178">mmix::mmix</referencedby>
+        <referencedby refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</referencedby>
+        <referencedby refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmgamma__fix_1b92c3d2e5fd0381033a072e5ef3bcf80" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>mgamma_fix::mgamma_fix</definition>
+        <argsstring>(const RV &amp;rv, const RV &amp;rvc)</argsstring>
+        <name>mgamma_fix</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvc</declname>
+        </param>
+        <briefdescription>
+<para>Constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="294" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="294" bodyend="294"/>
+      </memberdef>
+      <memberdef kind="function" id="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void mgamma_fix::set_parameters</definition>
+        <argsstring>(double k0, vec ref0, double l0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>double</type>
+          <declname>k0</declname>
+        </param>
+        <param>
+          <type>vec</type>
+          <declname>ref0</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>l0</declname>
+        </param>
+        <briefdescription>
+<para>Set value of <computeroutput>k</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="296" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="296" bodyend="299"/>
+        <references refid="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" compoundref="libEF_8h" startline="289">l</references>
+        <references refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" compoundref="libEF_8h" startline="291">refl</references>
+        <references refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" compoundref="libEF_8cpp" startline="108" endline="112">mgamma::set_parameters</references>
+      </memberdef>
+      <memberdef kind="function" id="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void mgamma_fix::condition</definition>
+        <argsstring>(const vec &amp;val)</argsstring>
+        <name>condition</name>
+        <reimplements refid="classmgamma_1a61094c9f7a2d64ea77b130cbc031f97">condition</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Update <computeroutput>ep</computeroutput> so that it represents this <ref refid="classmpdf" kindref="compound">mpdf</ref> conditioned on <computeroutput>rvc</computeroutput> = cond. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="301" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="301" bodyend="301"/>
+        <references refid="classmgamma_15e90652837448bcc29707e7412f99691" compoundref="libEF_8h" startline="265">mgamma::_beta</references>
+        <references refid="classmgamma_143f733cce0245a52363d566099add687" compoundref="libEF_8h" startline="263">mgamma::k</references>
+        <references refid="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" compoundref="libEF_8h" startline="289">l</references>
+        <references refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" compoundref="libEF_8h" startline="291">refl</references>
+      </memberdef>
+      <memberdef kind="function" id="classmgamma_1a9d646cf758a70126dde7c48790b6e94" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void mgamma::set_parameters</definition>
+        <argsstring>(double k)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type>double</type>
+          <declname>k</declname>
+        </param>
+        <briefdescription>
+<para>Set value of <computeroutput>k</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="271" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="108" bodyend="112"/>
+        <references refid="classmgamma_15e90652837448bcc29707e7412f99691" compoundref="libEF_8h" startline="265">mgamma::_beta</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classmgamma_143f733cce0245a52363d566099add687" compoundref="libEF_8h" startline="263">mgamma::k</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" compoundref="libEF_8h" startline="296" endline="299">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>virtual vec mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, double &amp;ll)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>double &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <briefdescription>
+<para>Returns the required moment of the <ref refid="classepdf" kindref="compound">epdf</ref>. </para>        </briefdescription>
+        <detaileddescription>
+<para>Returns a sample from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. <parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="184" bodyend="186"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>mat</type>
+        <definition>virtual mat mpdf::samplecond</definition>
+        <argsstring>(const vec &amp;cond, vec &amp;ll, int N)</argsstring>
+        <name>samplecond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <param>
+          <type>vec &amp;</type>
+          <declname>ll</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>N</declname>
+        </param>
+        <briefdescription>
+<para>Returns. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>N</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>samples from the density conditioned on <computeroutput>cond</computeroutput>, <formula id="10">$x \sim epdf(rv|cond)$</formula>. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>cond</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is numeric value of <computeroutput>rv</computeroutput> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>ll</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>is a return value of log-likelihood of the sample. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="188" bodyend="193"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_16aef3eca74899692503769c18add1a4c">epdf::evalpdflog</references>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <references refid="classepdf_18019654e494bf5e458f6fb947e11b262">epdf::sample</references>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>double</type>
+        <definition>virtual double mpdf::evalcond</definition>
+        <argsstring>(const vec &amp;dt, const vec &amp;cond)</argsstring>
+        <name>evalcond</name>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Shortcut for conditioning and evaluation of the internal <ref refid="classepdf" kindref="compound">epdf</ref>. In some cases, this operation can be implemented efficiently. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="198" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="198" bodyend="198"/>
+        <references refid="classmpdf_10f95a0cc6ab40611f46804682446ed83" compoundref="libBM_8h" startline="195" endline="195">mpdf::condition</references>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+        <references refid="classepdf_13ea597362e11a0040fe7c990269d072c" compoundref="libBM_8h" startline="153" endline="153">epdf::eval</references>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rvc</definition>
+        <argsstring>()</argsstring>
+        <name>_rvc</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="206" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="206" bodyend="206"/>
+        <references refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" compoundref="libBM_8h" startline="176">mpdf::rvc</references>
+        <referencedby refid="classmerger_11a6a721294321c2e412ca0084c636b69" compoundref="merger_8h" startline="36" endline="38">merger::merger</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV mpdf::_rv</definition>
+        <argsstring>()</argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="208" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="208" bodyend="208"/>
+        <references refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" compoundref="libBM_8h" startline="174">mpdf::rv</references>
+        <referencedby refid="classmprod_1419b303581a91ad85200bdcb4b3186f4" compoundref="emix_8h" startline="90" endline="115">mprod::mprod</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; mpdf::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="210" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="210" bodyend="210"/>
+        <references refid="classmpdf_17aa894208a32f3487827df6d5054424c" compoundref="libBM_8h" startline="178">mpdf::ep</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Gamma random walk around a fixed point. </para>    </briefdescription>
+    <detaileddescription>
+<para>Mean value, <formula id="14">$\mu$</formula>, of this density is given by a geometric combination of <computeroutput>rvc</computeroutput> and given fixed point, <formula id="42">$p$</formula>. <formula id="43">$l$</formula> is the coefficient of the geometric combimation <formula id="18">\[ \mu = \mu_{t-1} ^{l} p^{1-l}\]</formula></para><para>Standard deviation of the random walk is proportional to one <formula id="41">$k$</formula>-th the mean. This is achieved by setting <formula id="11">$\alpha=k$</formula> and <formula id="12">$\beta=k/\mu$</formula>.</para><para>The standard deviation of the walk is then: <formula id="13">$\mu/\sqrt(k)$</formula>. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1208">
+        <label>mgamma</label>
+        <link refid="classmgamma"/>
+        <childnode refid="1209" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1210">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+      </node>
+      <node id="1209">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1210" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1207">
+        <label>mgamma_fix</label>
+        <link refid="classmgamma__fix"/>
+        <childnode refid="1208" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1216">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1215" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1215">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1212">
+        <label>mgamma</label>
+        <link refid="classmgamma"/>
+        <childnode refid="1213" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1217" relation="usage">
+          <edgelabel>epdf</edgelabel>
+        </childnode>
+      </node>
+      <node id="1214">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1215" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1216" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+      <node id="1217">
+        <label>egamma</label>
+        <link refid="classegamma"/>
+        <childnode refid="1218" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1218">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="1216" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1213">
+        <label>mEF</label>
+        <link refid="classmEF"/>
+        <childnode refid="1214" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1211">
+        <label>mgamma_fix</label>
+        <link refid="classmgamma__fix"/>
+        <childnode refid="1212" relation="public-inheritance">
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" line="286" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.h" bodystart="286" bodyend="302"/>
+    <listofallmembers>
+      <member refid="classmgamma_15e90652837448bcc29707e7412f99691" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>_beta</name></member>
+      <member refid="classmpdf_1e17780ee5b2cfe05922a6c56af1462f8" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>_epdf</name></member>
+      <member refid="classmpdf_11e71ad4c66d5884c82d4a3b06b42fe32" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>_rv</name></member>
+      <member refid="classmpdf_1ec9c850305984582548e8deb64f0ffe8" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>_rvc</name></member>
+      <member refid="classmgamma__fix_16ea3931eec7b7da7b693e45981052460" prot="public" virt="virtual"><scope>mgamma_fix</scope><name>condition</name></member>
+      <member refid="classmpdf_17aa894208a32f3487827df6d5054424c" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>ep</name></member>
+      <member refid="classmgamma_1612dbf35c770a780027619aaac2c443e" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>epdf</name></member>
+      <member refid="classmpdf_180b738ece5bd4f8c4edaee4b38906f91" prot="public" virt="virtual"><scope>mgamma_fix</scope><name>evalcond</name></member>
+      <member refid="classmgamma_143f733cce0245a52363d566099add687" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>k</name></member>
+      <member refid="classmgamma__fix_13f48c09caddc298901ad75fe7c0529f6" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>l</name></member>
+      <member refid="classmEF_18bf51fe8654d7b83c8c8afeb19409d4f" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>mEF</name></member>
+      <member refid="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>mgamma</name></member>
+      <member refid="classmgamma__fix_1b92c3d2e5fd0381033a072e5ef3bcf80" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>mgamma_fix</name></member>
+      <member refid="classmpdf_1581ecf362185d37c08bb31cb9d046d6f" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>mpdf</name></member>
+      <member refid="classmgamma__fix_181ce49029ecc385418619b200dcafeb0" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>refl</name></member>
+      <member refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>rv</name></member>
+      <member refid="classmpdf_1acb7dda792b3cd5576f39fa3129abbab" prot="protected" virt="non-virtual"><scope>mgamma_fix</scope><name>rvc</name></member>
+      <member refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" prot="public" virt="virtual"><scope>mgamma_fix</scope><name>samplecond</name></member>
+      <member refid="classmpdf_10e37163660f93df2a4d723cedb1da89c" prot="public" virt="virtual"><scope>mgamma_fix</scope><name>samplecond</name></member>
+      <member refid="classmgamma__fix_1ec6f846896749e27cb7be9fa48dd1cb1" prot="public" virt="non-virtual"><scope>mgamma_fix</scope><name>set_parameters</name></member>
+      <member refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" prot="public" virt="non-virtual" ambiguityscope="mgamma::"><scope>mgamma_fix</scope><name>set_parameters</name></member>
+      <member refid="classmpdf_16788be9f3a888796499c5293a318fcfb" prot="public" virt="virtual"><scope>mgamma_fix</scope><name>~mpdf</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/chmat_8h.xml
===================================================================
--- /doc/xml/chmat_8h.xml (revision 187)
+++ /doc/xml/chmat_8h.xml (revision 187)
@@ -0,0 +1,141 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="chmat_8h" kind="file">
+    <compoundname>chmat.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libDC_8h" local="yes">libDC.h</includes>
+    <includes refid="itpp__ext_8h" local="yes">../itpp_ext.h</includes>
+    <includedby refid="libKF_8h" local="yes">work/git/mixpp/bdm/estim/libKF.h</includedby>
+    <includedby refid="chmat_8cpp" local="yes">work/git/mixpp/bdm/math/chmat.cpp</includedby>
+    <includedby refid="sim__var_8cpp" local="no">work/git/mixpp/pmsm/sim_var.cpp</includedby>
+    <includedby refid="chmat__test_8cpp" local="no">work/git/mixpp/tests/chmat_test.cpp</includedby>
+    <includedby refid="rv__test_8cpp" local="yes">work/git/mixpp/tests/rv_test.cpp</includedby>
+    <includedby refid="test0_8cpp" local="yes">work/git/mixpp/tests/test0.cpp</includedby>
+    <incdepgraph>
+      <node id="292">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="290" relation="include">
+        </childnode>
+      </node>
+      <node id="290">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="289">
+        <label>work/git/mixpp/bdm/math/chmat.h</label>
+        <link refid="chmat.h"/>
+        <childnode refid="290" relation="include">
+        </childnode>
+        <childnode refid="291" relation="include">
+        </childnode>
+        <childnode refid="292" relation="include">
+        </childnode>
+      </node>
+      <node id="291">
+        <label>libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="290" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="295">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="296" relation="include">
+        </childnode>
+      </node>
+      <node id="297">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="293">
+        <label>work/git/mixpp/bdm/math/chmat.h</label>
+        <link refid="chmat.h"/>
+        <childnode refid="294" relation="include">
+        </childnode>
+        <childnode refid="297" relation="include">
+        </childnode>
+      </node>
+      <node id="294">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="295" relation="include">
+        </childnode>
+        <childnode refid="297" relation="include">
+        </childnode>
+        <childnode refid="298" relation="include">
+        </childnode>
+      </node>
+      <node id="298">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+      <node id="296">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classchmat" prot="public">chmat</innerclass>
+    <briefdescription>
+<para>Matrices in decomposed forms (LDL&apos;, LU, UDU&apos;, etc). </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>CHMAT_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>CHMAT_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libDC_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">libDC.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;../itpp_ext.h&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27" refid="classchmat" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref><sp/>{</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="30" refid="classchmat_195158bb150f5e7f939168abcd577fd9c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_1bbc2d98d7455b1f38828907d442836bf" kindref="member">opupdt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>);</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classchmat_1a37e2c726e4fc3ad50b26ac2ca6c1452" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>();</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_166f509f92b0ccf020e2a2a32566e0777" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_166f509f92b0ccf020e2a2a32566e0777" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;U<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_107f50d1332b901eee962e8b1913102f7" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_107f50d1332b901eee962e8b1913102f7" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;U<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classchmat_1b504ca818203b13e667cb3c503980382" kindref="member" tooltip="Logarithm of a determinant.">logdet</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classchmat_1b22aa239dbaca33e3fb93b4f674d7051" kindref="member" tooltip="Multiplies square root of  by vector .">sqrt_mult</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classchmat_16807737c7ffdb7041256b51db7592248" kindref="member" tooltip="Evaluates quadratic form ;.">qform</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classchmat_1b49427cff186c62f5df3724e5d2c34b4" kindref="member" tooltip="Evaluates quadratic form ;.">invqform</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_1d0a995d312ecc11d3b43693f5e224ba9" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">clear</ref>();</highlight></codeline>
+<codeline lineno="45" refid="classchmat_1f3921e3e5e31337cdbda40a3a5467257" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;A2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w=1.0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="47" refid="classchmat_15ce4e21a9012a4e98c1f0ed1ca5669bd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_15ce4e21a9012a4e98c1f0ed1ca5669bd" kindref="member" tooltip="Inversion in the same form, i.e. cholesky.">inv</ref><sp/>(<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;Inv<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/><sp/><sp/></highlight><highlight class="normal">{<sp/>(<sp/>Inv.<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>)<sp/>=<sp/>itpp::inv<sp/>(<sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>).T();};<sp/></highlight><highlight class="comment">//Fixme:<sp/>can<sp/>be<sp/>more<sp/>efficient</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>void<sp/>inv<sp/>(<sp/>mat<sp/>&amp;Inv<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52" refid="classchmat_1ba62fbf7cb8e065a4f3d24457824e89b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classchmat_1ba62fbf7cb8e065a4f3d24457824e89b" kindref="member" tooltip="Destructor for future use;.">~chmat</ref>()<sp/>{};</highlight></codeline>
+<codeline lineno="54" refid="classchmat_1fdd73b0c596161637fd25bdf2c670c39" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat_1fdd73b0c596161637fd25bdf2c670c39" kindref="member" tooltip="Default constructor.">chmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dim0<sp/>)<sp/>:<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref><sp/>(<sp/>dim0<sp/>),<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>(<sp/>dim0,dim0<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="56" refid="classchmat_1d4f0a94e81279295e60e72812130f9d4" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat_1fdd73b0c596161637fd25bdf2c670c39" kindref="member" tooltip="Default constructor.">chmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v)<sp/>:<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref><sp/>(<sp/>v.length()<sp/>),<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>(<sp/>diag(sqrt(v))<sp/>)<sp/>{};</highlight></codeline>
+<codeline lineno="58" refid="classchmat_1d92f3bd9a727b8c88a8c7385feb3449a" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat_1fdd73b0c596161637fd25bdf2c670c39" kindref="member" tooltip="Default constructor.">chmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;Ch0)<sp/>:<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref><sp/>(<sp/>Ch0.<ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>),<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>(<sp/>Ch0.<ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>,Ch0.<ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref><sp/>)<sp/>{<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>=Ch0.<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>;};</highlight></codeline>
+<codeline lineno="60" refid="classchmat_18334a00f30f0a05f893c2aeec395ef10" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat_1fdd73b0c596161637fd25bdf2c670c39" kindref="member" tooltip="Default constructor.">chmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;M<sp/>)<sp/>:<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref><sp/>(<sp/>M.<ref refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" kindref="member" tooltip="Reimplementing common functions of mat: cols().">rows</ref>()<sp/>),<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref><sp/>(<sp/>M.<ref refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" kindref="member" tooltip="Reimplementing common functions of mat: cols().">rows</ref>(),M.<ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member" tooltip="Reimplementing common functions of mat: cols().">cols</ref>()<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Q;</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_assert_debug<sp/>(<sp/>M.rows()<sp/>==M.cols(),</highlight><highlight class="stringliteral">&quot;chmat::<sp/>input<sp/>matrix<sp/>must<sp/>be<sp/>square!&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>=chol<sp/>(<sp/>M<sp/>);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
+<codeline lineno="66" refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>&amp;<sp/><ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>;}</highlight></codeline>
+<codeline lineno="68" refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;nD<sp/>)<sp/>{<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>=diag<sp/>(<sp/>sqrt(nD)<sp/>);}</highlight></codeline>
+<codeline lineno="70" refid="classchmat_14b9271097d8317d9514c5d0d62cccb39" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;nD,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i<sp/>)<sp/>{</highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>j=i;j&lt;nD.length();j++<sp/>)<sp/>{<ref refid="classchmat_195158bb150f5e7f939168abcd577fd9c" kindref="member" tooltip="Upper triangle of the cholesky matrix.">Ch</ref>(<sp/>j,j<sp/>)<sp/>=sqrt(nD<sp/>(<sp/>j-i<sp/>));}}<sp/></highlight><highlight class="comment">//Fixme<sp/>can<sp/>be<sp/>more<sp/>general</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>&amp;<sp/><ref refid="classchmat_16a8b39fe3a28d2c8e3fc0d74141229fb" kindref="member" tooltip="Operators.">operator += </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;A2<sp/>);</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>&amp;<sp/><ref refid="classchmat_1a8c3628a8c15eb0009e57c66fcac1a76" kindref="member" tooltip="mapping of negative add operation to operators">operator -= </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;A2<sp/>)<sp/>;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="80" refid="classchmat_16a8b39fe3a28d2c8e3fc0d74141229fb" refkind="member"><highlight class="keyword">inline</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>&amp;<sp/><ref refid="classchmat_16a8b39fe3a28d2c8e3fc0d74141229fb" kindref="member" tooltip="Operators.">chmat::operator += </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;A2<sp/>)<sp/><sp/>{this-&gt;</highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/>A2<sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;}</highlight></codeline>
+<codeline lineno="82" refid="classchmat_1a8c3628a8c15eb0009e57c66fcac1a76" refkind="member"><highlight class="keyword">inline</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref>&amp;<sp/><ref refid="classchmat_1a8c3628a8c15eb0009e57c66fcac1a76" kindref="member" tooltip="mapping of negative add operation to operators">chmat::operator -= </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>&amp;A2<sp/>)<sp/><sp/>{this-&gt;</highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/>A2,-1.0<sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;}</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>CHMAT_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/chmat.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testKF__QR_8cpp.xml
===================================================================
--- /doc/xml/testKF__QR_8cpp.xml (revision 187)
+++ /doc/xml/testKF__QR_8cpp.xml (revision 187)
@@ -0,0 +1,202 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testKF__QR_8cpp" kind="file">
+    <compoundname>testKF_QR.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <incdepgraph>
+      <node id="882">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+      </node>
+      <node id="878">
+        <label>work/git/mixpp/tests/testKF_QR.cpp</label>
+        <link refid="testKF_QR.cpp"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+        <childnode refid="880" relation="include">
+        </childnode>
+        <childnode refid="887" relation="include">
+        </childnode>
+      </node>
+      <node id="885">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+      </node>
+      <node id="883">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+        <childnode refid="884" relation="include">
+        </childnode>
+        <childnode refid="882" relation="include">
+        </childnode>
+        <childnode refid="885" relation="include">
+        </childnode>
+      </node>
+      <node id="887">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+        <childnode refid="883" relation="include">
+        </childnode>
+        <childnode refid="884" relation="include">
+        </childnode>
+      </node>
+      <node id="881">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+        <childnode refid="882" relation="include">
+        </childnode>
+      </node>
+      <node id="879">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="886">
+        <label>../math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+        <childnode refid="884" relation="include">
+        </childnode>
+        <childnode refid="885" relation="include">
+        </childnode>
+      </node>
+      <node id="880">
+        <label>estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+        <childnode refid="881" relation="include">
+        </childnode>
+        <childnode refid="883" relation="include">
+        </childnode>
+        <childnode refid="886" relation="include">
+        </childnode>
+      </node>
+      <node id="884">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="879" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testKF__QR_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testKF_QR.cpp" line="11" bodyfile="/home/smidl/work/git/mixpp/tests/testKF_QR.cpp" bodystart="11" bodyend="86"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Klaman<sp/>filter</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A,<sp/>B,C,D,R,Q,P0;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Mu0;</highlight><highlight class="comment">//<sp/>read<sp/>from<sp/>matlab</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>input<sp/>from<sp/>Matlab</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fin(<sp/></highlight><highlight class="stringliteral">&quot;testKF.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Dt,<sp/>XQRt,eR,eQ;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>xxx=<sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;d&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(!xxx){<sp/>it_error(</highlight><highlight class="stringliteral">&quot;testKF.it<sp/>not<sp/>found&quot;</highlight><highlight class="normal">);}</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;Dt;</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;A&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>A;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;B&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>B;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;C&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>C;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;D&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>D;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;R&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin<sp/>&gt;&gt;<sp/>R;</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;Q&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>Q;</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;P0&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>P0;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fin.seek(<sp/></highlight><highlight class="stringliteral">&quot;mu0&quot;</highlight><highlight class="normal"><sp/>);<sp/>fin<sp/>&gt;&gt;<sp/>Mu0;<sp/></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mu0=Mu0.get_col(0);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ndat<sp/>=<sp/>Dt.cols();</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XQRt=zeros(<sp/>5,Ndat<sp/>);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt=zeros(<sp/>2,Ndat<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>KF;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx(</highlight><highlight class="stringliteral">&quot;{x<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru(</highlight><highlight class="stringliteral">&quot;{u<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry(</highlight><highlight class="stringliteral">&quot;{y<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQR(</highlight><highlight class="stringliteral">&quot;{Q,R<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;3&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKFcondQR" kindref="compound" tooltip="Kalman Filter with conditional diagonal matrices R and Q.">KFcondQR</ref><sp/>KF(rx,ry,ru,rQR);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>KF<sp/>with<sp/>R<sp/>unknown</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF.set_parameters(A,B,C,D,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(R),<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(Q));</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF.set_est(mu0,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(P0)<sp/>);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman" kindref="compound" tooltip="Kalman filter with covariance matrices in square root form.">Kalman&lt;ldmat&gt;</ref><sp/>KFtr(rx,ry,ru);</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>KF<sp/>with<sp/>R<sp/>unknown</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFtr.set_parameters(A,B,C,D,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(R),<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(Q));</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFtr.set_est(mu0,<ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>(P0)<sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>evolQR(rQR,rQR);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQR.set_parameters(10.0);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF&lt;KFcondQR &gt;</ref><sp/>KF_QR(rx,rQR,evolQR,evolQR,100,KF);</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQR.condition(</highlight><highlight class="stringliteral">&quot;1<sp/>1<sp/>1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>pfinit=evolQR._epdf();</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF_QR.set_est(pfinit);</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>mpost=KF_QR._epdf();</highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&amp;<sp/>mposttr=KFtr._epdf();</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XQRt.set_col(<sp/>0,mpost.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>());</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col(<sp/>0,mposttr.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>());</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t&lt;Ndat;t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KF_QR.bayes(<sp/>Dt.get_col(<sp/>t<sp/>));</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFtr.bayes(<sp/>Dt.get_col(<sp/>t<sp/>));</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XQRt.set_col(t,mpost.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>());</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col(t,mposttr.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>());</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou(<sp/></highlight><highlight class="stringliteral">&quot;testKF_QR_res.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;xqrth&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>XQRt;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;xth&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>Xt;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testKF_QR.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_55ff6ff380b6eeebcc6464908abb73ee.xml
===================================================================
--- /doc/xml/dir_55ff6ff380b6eeebcc6464908abb73ee.xml (revision 187)
+++ /doc/xml/dir_55ff6ff380b6eeebcc6464908abb73ee.xml (revision 187)
@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_55ff6ff380b6eeebcc6464908abb73ee" kind="dir">
+    <compoundname>work/</compoundname>
+    <innerdir refid="dir_bc93bfa121b730676fc011758b3d1661">work/git/</innerdir>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classBikeUI.xml
===================================================================
--- /doc/xml/classBikeUI.xml (revision 187)
+++ /doc/xml/classBikeUI.xml (revision 187)
@@ -0,0 +1,388 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classBikeUI" kind="class" prot="public">
+    <compoundname>BikeUI</compoundname>
+    <basecompoundref refid="classCompoundUserInfo" prot="public" virt="non-virtual">CompoundUserInfo&lt; Bike &gt;</basecompoundref>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classBikeUI_143110d054f73b449c0b9c0b886c50f96" prot="private" static="no" mutable="no">
+        <type>BindedElement&lt; int &gt;</type>
+        <definition>BindedElement&lt;int&gt; BikeUI::year</definition>
+        <argsstring></argsstring>
+        <name>year</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="100" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="100" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classBikeUI_1e4eaabaeabcacbf4f07c04bb9b744298" prot="private" static="no" mutable="no">
+        <type>BindedElement&lt; bool &gt;</type>
+        <definition>BindedElement&lt;bool&gt; BikeUI::lights</definition>
+        <argsstring></argsstring>
+        <name>lights</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="101" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="101" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classBikeUI_169c865cd2a424f37c5aee9b42884ae92" prot="private" static="no" mutable="no">
+        <type>BindedElement&lt; string &gt;</type>
+        <definition>BindedElement&lt;string&gt; BikeUI::manufacturer</definition>
+        <argsstring></argsstring>
+        <name>manufacturer</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="102" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="102" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classBikeUI_1cd24b018e928932a14887c6e9b781a8d" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>BikeUI::BikeUI</definition>
+        <argsstring>()</argsstring>
+        <name>BikeUI</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="112" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="104" bodyend="113"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="private-func">
+      <memberdef kind="function" id="classBikeUI_12479b2759ea4fcf9f481118219f486dd" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>Bike *</type>
+        <definition>Bike* BikeUI::AssemblyInstance</definition>
+        <argsstring>()</argsstring>
+        <name>AssemblyInstance</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="117" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="116" bodyend="120"/>
+      </memberdef>
+      <memberdef kind="function" id="classBikeUI_15d653d6cd4feda50923ae190f27e5392" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>bool</type>
+        <definition>bool BikeUI::DisassemblyInstance</definition>
+        <argsstring>(Bike &amp;instance)</argsstring>
+        <name>DisassemblyInstance</name>
+        <param>
+          <type>Bike &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="123" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="122" bodyend="128"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-static-attrib">
+      <memberdef kind="variable" id="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" static="yes" mutable="no">
+        <type>const <ref refid="classTypedUserInfo" kindref="compound">TypedUserInfo</ref>&lt; Bike &gt; &amp;</type>
+        <definition>const TypedUserInfo&lt; Bike &gt; &amp; TypedUserInfo&lt; Bike &gt;::instance</definition>
+        <argsstring></argsstring>
+        <name>instance</name>
+        <initializer> BikeUI( )</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>the only instance of this class (each type T has its own instance) which is used as a factory for processing related userinfos </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="387" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="387" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-static-func">
+      <memberdef kind="function" id="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>T *</type>
+        <definition>static T* UserInfo::Assembly</definition>
+        <argsstring>(DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Assembly</name>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to assembly a new instance of type T (or some of its descendant types) according to a data stored in a DOMNode named tagName within a child nodes of the passed element. If an error occurs, it returns a NULL pointer. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="227" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="226" bodyend="291"/>
+        <references refid="classAttribute_16ebbcaaf9c90a979e645f469e02bb940" compoundref="userinfo_8cpp" startline="40" endline="44">Attribute::Get</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName, const string help)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>help</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node (with a help attribute filled). </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="298" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="297" bodyend="321"/>
+        <references refid="classAttribute_1d6474fd976f505e70e10c497199c6770" compoundref="userinfo_8h" startline="149">Attribute::help</references>
+        <references refid="classAttribute_1e011d84e2e3c40390807a8b8e58e3c35" compoundref="userinfo_8cpp" startline="46" endline="52">Attribute::Set</references>
+        <references refid="classAttribute_15f6cce980606fa8943857204aacb5478" compoundref="userinfo_8h" startline="152">Attribute::type</references>
+        <referencedby refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" compoundref="userinfo_8h" startline="327" endline="330">UserInfo::Disassembly</referencedby>
+        <referencedby refid="classCompoundUserInfo_1_1BindedElement_16ef55cedb98f5d2dbcf92730f2fed939" compoundref="userinfo_8h" startline="479" endline="482">CompoundUserInfo&lt; T &gt;::BindedElement&lt; U &gt;::DisassemblyComponentsToXML</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" static="yes" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <templateparamlist>
+          <param>
+            <type>class</type>
+            <declname>T</declname>
+            <defname>T</defname>
+          </param>
+        </templateparamlist>
+        <type>bool</type>
+        <definition>static bool UserInfo::Disassembly</definition>
+        <argsstring>(T &amp;instance, DOMElement &amp;element, const string tagName)</argsstring>
+        <name>Disassembly</name>
+        <param>
+          <type>T &amp;</type>
+          <declname>instance</declname>
+        </param>
+        <param>
+          <type>DOMElement &amp;</type>
+          <declname>element</declname>
+        </param>
+        <param>
+          <type>const string</type>
+          <declname>tagName</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+<para>This methods tries to disassembly an instance of type T (or some of its descendant types) and build DOM tree accordingly. Then, it creates a new DOMNode named according tagName and connecti it to the passed DOMElement as a new child node. </para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="328" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="327" bodyend="330"/>
+        <references refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" compoundref="userinfo_8h" startline="297" endline="321">UserInfo::Disassembly</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-func">
+      <memberdef kind="function" id="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::XMLCh2str</definition>
+        <argsstring>(const XMLCh *const XMLCh_str)</argsstring>
+        <name>XMLCh2str</name>
+        <param>
+          <type>const XMLCh *const </type>
+          <declname>XMLCh_str</declname>
+        </param>
+        <briefdescription>
+<para>function which transcodes Xerces&apos; XMLCh-based strings into C++ strings </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.cpp" bodystart="20" bodyend="26"/>
+      </memberdef>
+      <memberdef kind="function" id="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>string</type>
+        <definition>string BindingFrame::removeSpaces</definition>
+        <argsstring>(const string &amp;str)</argsstring>
+        <name>removeSpaces</name>
+        <param>
+          <type>const string &amp;</type>
+          <declname>str</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/userinfo.h" line="102" bodyfile="/home/smidl/work/git/mixpp/bdm/userinfo.h" bodystart="101" bodyend="108"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="648">
+        <label>BikeUI</label>
+        <childnode refid="649" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="653">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="651" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="649">
+        <label>CompoundUserInfo&lt; Bike &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="650" relation="public-inheritance">
+        </childnode>
+        <childnode refid="654" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="650">
+        <label>TypedUserInfo&lt; Bike &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="651" relation="public-inheritance">
+        </childnode>
+        <childnode refid="653" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="654">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="653" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="651">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="652" relation="protected-inheritance">
+        </childnode>
+      </node>
+      <node id="652">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="655">
+        <label>BikeUI</label>
+        <childnode refid="656" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="660">
+        <label>AssertXercesIsAlive</label>
+        <link refid="classAssertXercesIsAlive"/>
+      </node>
+      <node id="662">
+        <label>TypedUserInfo&lt; T &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="658" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="656">
+        <label>CompoundUserInfo&lt; Bike &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="657" relation="public-inheritance">
+        </childnode>
+        <childnode refid="663" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="661">
+        <label>string</label>
+      </node>
+      <node id="657">
+        <label>TypedUserInfo&lt; Bike &gt;</label>
+        <link refid="classTypedUserInfo"/>
+        <childnode refid="658" relation="public-inheritance">
+        </childnode>
+        <childnode refid="657" relation="usage">
+          <edgelabel>instance</edgelabel>
+        </childnode>
+        <childnode refid="662" relation="template-instance">
+          <edgelabel>&lt; Bike &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="663">
+        <label>CompoundUserInfo&lt; T &gt;</label>
+        <link refid="classCompoundUserInfo"/>
+        <childnode refid="662" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="658">
+        <label>UserInfo</label>
+        <link refid="classUserInfo"/>
+        <childnode refid="659" relation="protected-inheritance">
+        </childnode>
+        <childnode refid="661" relation="usage">
+          <edgelabel>userFriendlyTypeName
+typeNameByRTTI</edgelabel>
+        </childnode>
+      </node>
+      <node id="659">
+        <label>BindingFrame</label>
+        <link refid="classBindingFrame"/>
+        <childnode refid="660" relation="usage">
+          <edgelabel>dummy</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/tests/testUI.cpp" line="98" bodyfile="/home/smidl/work/git/mixpp/tests/testUI.cpp" bodystart="97" bodyend="129"/>
+    <listofallmembers>
+      <member refid="classUserInfo_10f090c6525a3e8fb11634a553f467ede" prot="public" virt="non-virtual"><scope>BikeUI</scope><name>Assembly</name></member>
+      <member refid="classBikeUI_12479b2759ea4fcf9f481118219f486dd" prot="private" virt="non-virtual"><scope>BikeUI</scope><name>AssemblyInstance</name></member>
+      <member refid="classBikeUI_1cd24b018e928932a14887c6e9b781a8d" prot="public" virt="non-virtual"><scope>BikeUI</scope><name>BikeUI</name></member>
+      <member refid="classBindingFrame_165bec8fcde1865e2e211f42ca52a816f" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>BindingFrame</name></member>
+      <member refid="classCompoundUserInfo_1e2265e447e2f48550c5d8d479119bbb3" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>CompoundUserInfo</name></member>
+      <member refid="classUserInfo_11d402661b82feccb5265a70f65c242e1" prot="public" virt="non-virtual"><scope>BikeUI</scope><name>Disassembly</name></member>
+      <member refid="classUserInfo_1917b2257abc31b94c89ef3cd270e4a42" prot="public" virt="non-virtual"><scope>BikeUI</scope><name>Disassembly</name></member>
+      <member refid="classBikeUI_15d653d6cd4feda50923ae190f27e5392" prot="private" virt="non-virtual"><scope>BikeUI</scope><name>DisassemblyInstance</name></member>
+      <member refid="classTypedUserInfo_1c7ad10a9ff002383518155c965ade85c" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>instance</name></member>
+      <member refid="classBikeUI_1e4eaabaeabcacbf4f07c04bb9b744298" prot="private" virt="non-virtual"><scope>BikeUI</scope><name>lights</name></member>
+      <member refid="classBikeUI_169c865cd2a424f37c5aee9b42884ae92" prot="private" virt="non-virtual"><scope>BikeUI</scope><name>manufacturer</name></member>
+      <member refid="classBindingFrame_1820e4df85c0dc545e3079e407fcdbbaa" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>removeSpaces</name></member>
+      <member refid="classTypedUserInfo_1f4fe0532c1cdee3d6e00d96561efbdd5" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>TypedUserInfo</name></member>
+      <member refid="classUserInfo_10bccb19c6b819cf9f763e985c573ae8f" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>UserInfo</name></member>
+      <member refid="classBindingFrame_12244bd5181c3d1e70f3a6be2b72e9424" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>XMLCh2str</name></member>
+      <member refid="classBikeUI_143110d054f73b449c0b9c0b886c50f96" prot="private" virt="non-virtual"><scope>BikeUI</scope><name>year</name></member>
+      <member refid="classTypedUserInfo_1b1bb67b76a677f0cf33e923fd9147e9a" prot="protected" virt="non-virtual"><scope>BikeUI</scope><name>~TypedUserInfo</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classOMpmsm.xml
===================================================================
--- /doc/xml/classOMpmsm.xml (revision 187)
+++ /doc/xml/classOMpmsm.xml (revision 187)
@@ -0,0 +1,384 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classOMpmsm" kind="class" prot="public">
+    <compoundname>OMpmsm</compoundname>
+    <basecompoundref refid="classdiffbifn" prot="public" virt="non-virtual">diffbifn</basecompoundref>
+    <includes refid="pmsm_8h" local="no">pmsm.h</includes>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classOMpmsm_19f9e48c2f4a09c97c447c9c4cbefdd61" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>OMpmsm::OMpmsm</definition>
+        <argsstring>()</argsstring>
+        <name>OMpmsm</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="126" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="126" bodyend="126"/>
+      </memberdef>
+      <memberdef kind="function" id="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec OMpmsm::eval</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="128" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="128" bodyend="133"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classOMpmsm_1b75b5fd55b2ac5ed74b5b953af122821" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void OMpmsm::dfdx_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdx_cond</name>
+        <reimplements refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4">dfdx_cond</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="1">$A=\frac{d}{dx}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="135" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="135" bodyend="139"/>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec diffbifn::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula> (VS: Do we really need common eval? ). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="76" bodyend="80"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_11978bafd7909d15c139a08c495c24aa0" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void diffbifn::dfdu_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</argsstring>
+        <name>dfdu_cond</name>
+        <reimplementedby refid="classIMpmsmStat_1ff740ee20100ae2a2d03a2538638f8e8">dfdu_cond</reimplementedby>
+        <reimplementedby refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5">dfdu_cond</reimplementedby>
+        <reimplementedby refid="classbilinfn_190f2b15612b14883d6ed2b0e295cb82b">dfdu_cond</reimplementedby>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="2">$A=\frac{d}{du}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="87" bodyend="87"/>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimx</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimx</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="91" bodyend="91"/>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimu</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimu</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="93" bodyend="93"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvx</definition>
+        <argsstring></argsstring>
+        <name>rvx</name>
+        <briefdescription>
+<para>Indentifier of the first rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="67" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indentifier of the second rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="69" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache for rvx.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" compoundref="libFN_8h" startline="91" endline="91">diffbifn::_dimx</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache for rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">bilinfn::eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn::bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">diffbifn::eval</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Observation model for PMSM drive and its derivative with respect to <formula id="28">$x$</formula>. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="1269">
+        <label>OMpmsm</label>
+        <link refid="classOMpmsm"/>
+        <childnode refid="1270" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1270">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="1271" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1271">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1272">
+        <label>OMpmsm</label>
+        <link refid="classOMpmsm"/>
+        <childnode refid="1273" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1275">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1273">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="1274" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1275" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="1274">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="124" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm.h" bodystart="124" bodyend="140"/>
+    <listofallmembers>
+      <member refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" virt="non-virtual"><scope>OMpmsm</scope><name>_dimu</name></member>
+      <member refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" virt="non-virtual"><scope>OMpmsm</scope><name>_dimx</name></member>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>OMpmsm</scope><name>_dimy</name></member>
+      <member refid="classdiffbifn_11978bafd7909d15c139a08c495c24aa0" prot="public" virt="virtual"><scope>OMpmsm</scope><name>dfdu_cond</name></member>
+      <member refid="classOMpmsm_1b75b5fd55b2ac5ed74b5b953af122821" prot="public" virt="virtual"><scope>OMpmsm</scope><name>dfdx_cond</name></member>
+      <member refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" prot="public" virt="non-virtual"><scope>OMpmsm</scope><name>diffbifn</name></member>
+      <member refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" virt="non-virtual"><scope>OMpmsm</scope><name>dimu</name></member>
+      <member refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" virt="non-virtual"><scope>OMpmsm</scope><name>dimx</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>OMpmsm</scope><name>dimy</name></member>
+      <member refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" prot="public" virt="virtual"><scope>OMpmsm</scope><name>eval</name></member>
+      <member refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" virt="virtual" ambiguityscope="diffbifn::"><scope>OMpmsm</scope><name>eval</name></member>
+      <member refid="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" virt="non-virtual"><scope>OMpmsm</scope><name>fnc</name></member>
+      <member refid="classOMpmsm_19f9e48c2f4a09c97c447c9c4cbefdd61" prot="public" virt="non-virtual"><scope>OMpmsm</scope><name>OMpmsm</name></member>
+      <member refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" virt="non-virtual"><scope>OMpmsm</scope><name>rvu</name></member>
+      <member refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" virt="non-virtual"><scope>OMpmsm</scope><name>rvx</name></member>
+      <member refid="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" virt="virtual"><scope>OMpmsm</scope><name>~fnc</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/itsave_8m.xml
===================================================================
--- /doc/xml/itsave_8m.xml (revision 187)
+++ /doc/xml/itsave_8m.xml (revision 187)
@@ -0,0 +1,1229 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="itsave_8m" kind="file">
+    <compoundname>itsave.m</compoundname>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="itsave_8m_1680e0ce70cda1a60557184bef5a6168e" prot="public" static="no" mutable="no">
+        <type>File</type>
+        <definition>File __pad1__</definition>
+        <argsstring></argsstring>
+        <name>__pad1__</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="5" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="5" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_14a7fd756291457a2f23abdb704288459" prot="public" static="no" mutable="no">
+        <type>File</type>
+        <definition>File var1</definition>
+        <argsstring></argsstring>
+        <name>var1</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="5" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="5" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1f2e4dfefec07c708c5ac8574c56da537" prot="public" static="no" mutable="no">
+        <type>you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software</type>
+        <definition>if write to the Free Software Foundation</definition>
+        <argsstring></argsstring>
+        <name>Foundation</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="21" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="21" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1355539e51bed3008068dfe985e226ab8" prot="public" static="no" mutable="no">
+        <type>either version of the</type>
+        <definition>either version of the License</definition>
+        <argsstring></argsstring>
+        <name>License</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="21" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="21" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_101d4ec73d916d67d085f3e63d1fdbd4b" prot="public" static="no" mutable="no">
+        <type>either version of the but WITHOUT ANY</type>
+        <definition>either version of the but WITHOUT ANY WARRANTY</definition>
+        <argsstring></argsstring>
+        <name>WARRANTY</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="25" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="25" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1d1fcf7d480c2fceaa3fc2635af62b648" prot="public" static="no" mutable="no">
+        <type>without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this</type>
+        <definition>without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program</definition>
+        <argsstring></argsstring>
+        <name>program</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="30" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1e6cf43db481de26465fb7c527d5d985f" prot="public" static="no" mutable="no">
+        <type>if</type>
+        <definition>if not</definition>
+        <argsstring></argsstring>
+        <name>not</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="30" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1905b4a7c11572b0a44b1a053ce673c5d" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software</type>
+        <definition>if write to the Free Software Inc</definition>
+        <argsstring></argsstring>
+        <name>Inc</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="31" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1fe1a6e4154d81acb571f8aab6721aea4" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software Franklin</type>
+        <definition>if write to the Free Software Franklin St</definition>
+        <argsstring></argsstring>
+        <name>St</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="31" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1d2b5073b95842f7a6ed83d3aeec19bbe" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software Franklin Fifth</type>
+        <definition>if write to the Free Software Franklin Fifth Floor</definition>
+        <argsstring></argsstring>
+        <name>Floor</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="31" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_18325b5643fb5a8089993e30526606acc" prot="public" static="no" mutable="no">
+        <type>if write to the Free Software Franklin Fifth</type>
+        <definition>if write to the Free Software Franklin Fifth Boston</definition>
+        <argsstring></argsstring>
+        <name>Boston</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="31" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1545f2213e9a5115b1b8530c3f8cf85d9" prot="public" static="no" mutable="no">
+        <type>end</type>
+        <definition>end nargs</definition>
+        <argsstring></argsstring>
+        <name>nargs</name>
+        <initializer> size(vars,2)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="44" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="44" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_183583892f1d8254cfda94a12cd780c0d" prot="public" static="no" mutable="no">
+        <type>for</type>
+        <definition>for ai</definition>
+        <argsstring></argsstring>
+        <name>ai</name>
+        <initializer>1:nargs
+  if (exist(&apos;OCTAVE_VERSION&apos;)) % check for octave
+      vname = deblank(argn(ai+1,:))</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="60" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="58" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1e9a9383c1afbb6bbb2051c542d82156b" prot="public" static="no" mutable="no">
+        <type>octave way of getting parameter name</type>
+        <definition>matlab way of getting parameter name is_octave</definition>
+        <argsstring></argsstring>
+        <name>is_octave</name>
+        <initializer>1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="61" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="61" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_14e1a421d8af350ce1f106adb3aecae87" prot="public" static="no" mutable="no">
+        <type>used by function itsizeof to identify octave else</type>
+        <definition>used by function itsizeof to identify octave else vname</definition>
+        <argsstring></argsstring>
+        <name>vname</name>
+        <initializer> inputname(ai+1)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="63" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="63" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1bdc0dbb7c91d13ef90e78dc0c1b8b693" prot="public" static="no" mutable="no">
+        <type>used by function itsizeof to identify matlab end</type>
+        <definition>used by function itsizeof to identify matlab end v</definition>
+        <argsstring></argsstring>
+        <name>v</name>
+        <initializer> vars{ai}</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="66" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="66" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_12179a3890d2c6800564e009e1b729ad2" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>is_scalar</definition>
+        <argsstring></argsstring>
+        <name>is_scalar</name>
+        <initializer> all(size(v) == 1)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="68" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="68" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1da70dbb0a8dd4ae0dfdf22e7a1c59fc5" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>data_bytes</definition>
+        <argsstring></argsstring>
+        <name>data_bytes</name>
+        <initializer> itsizeof(uint64(0),is_octave) + itsizeof(char(0),is_octave) * prod(size(v))</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="78" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="78" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1a881823d403873173d08f8a4f602eab3" prot="public" static="no" mutable="no">
+        <type>else a matrix</type>
+        <definition>else a matrix hdr_bytes</definition>
+        <argsstring></argsstring>
+        <name>hdr_bytes</name>
+        <initializer> 3 * itsizeof(uint64(0),is_octave) + size(vname,2)+1 ...
+	    + itsizeof(&apos;bmat&apos;,is_octave)+1 +1</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="81" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="80" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_18d5491d4519ca139c65068a3215c2f8e" prot="public" static="no" mutable="no">
+        <type>end</type>
+        <definition>end block_bytes</definition>
+        <argsstring></argsstring>
+        <name>block_bytes</name>
+        <initializer> hdr_bytes + data_bytes</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="84" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="84" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_12cc9ac9e94cfef4cc424d9133995a71c" prot="public" static="no" mutable="no">
+        <type>Write data type</type>
+        <definition>end else a matrix Write data type string</definition>
+        <argsstring></argsstring>
+        <name>string</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="91" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="91" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1227cfb8ad17fc637bb6a27a88f08b4bf" prot="public" static="no" mutable="no">
+        <type>Write data type empty description string and data size</type>
+        <definition>Write data type empty description string and data size bvec</definition>
+        <argsstring></argsstring>
+        <name>bvec</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="93" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="93" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_105283d6bf805b4664deeec1d79f376d4" prot="public" static="no" mutable="no">
+        <type>Write data type empty description string and data size</type>
+        <definition>Write data type empty description string and data size ivec</definition>
+        <argsstring></argsstring>
+        <name>ivec</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="122" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="122" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_166615ffdd5b08a31b7f5b92df6d3bcdd" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>dvec</definition>
+        <argsstring></argsstring>
+        <name>dvec</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="153" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="153" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_19b932e10d196780312f615d3c2b408f2" prot="public" static="no" mutable="no">
+        <type>Write data for</type>
+        <definition>Write data for i</definition>
+        <argsstring></argsstring>
+        <name>i</name>
+        <initializer>1:size(v(:),1)
+	  fwrite(fid, real(v(i)), &apos;float64&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="187" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="186" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_14219087f2d987a0fb99ff3b63601b076" prot="public" static="no" mutable="no">
+        <type>Write data for</type>
+        <definition>Write data for j</definition>
+        <argsstring></argsstring>
+        <name>j</name>
+        <initializer>1:size(v,2)
+	  for i=1:size(v,1)
+	    fwrite(fid, real(v(i,j)), &apos;float64&apos;)</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="197" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="195" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1e0d1a96bdaefe1ebe985f6536223de7b" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>else nbytes</definition>
+        <argsstring></argsstring>
+        <name>nbytes</name>
+        <initializer>tmp.bytes</initializer>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="217" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="217" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="itsave_8m_1fb358f48b1646c750fb9da6c6585be2b" prot="public" static="no" mutable="no">
+        <type></type>
+        <definition>end</definition>
+        <argsstring></argsstring>
+        <name>end</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="223" bodyfile="/home/smidl/work/git/mixpp/matlab/itsave.m" bodystart="223" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="itsave_8m_19578960e5d7ee914d0d6838b76a7473e" prot="public" static="yes" const="no" explicit="no" inline="no" virt="virtual">
+        <type>id</type>
+        <definition>id types:</definition>
+        <argsstring>(see AUTHORS file for a list of contributors software)</argsstring>
+        <name>types:</name>
+        <param>
+          <type>see AUTHORS file for a list of contributors</type>
+          <declname>software</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="19"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_158781a13256e170574b13bb2170e928e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>either version of the</type>
+        <definition>either version of the or</definition>
+        <argsstring>(at your option) any later version.%%This program is distributed in the hope that it will be useful</argsstring>
+        <name>or</name>
+        <param>
+          <type>at your</type>
+          <declname>option</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="24"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_14727c1a57822674adfe9ca2bba3ec03c" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>nargin &gt; 1</type>
+        <definition>nargin &gt; 1 varargin</definition>
+        <argsstring>()</argsstring>
+        <name>varargin</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="39"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1c50dd0c6c3b0c631691ab989849ad18e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>else</type>
+        <definition>else error</definition>
+        <argsstring>(&apos;Usage:itsave(&quot;fname.it&quot;, var1,[var2],...)&apos;)</argsstring>
+        <name>error</name>
+        <param>
+          <type>&apos;Usage:itsave(&quot;fname.it&quot;, var1,[var2],...)&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="41"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1ef94a0620ccad5238d95602e19b26b8d" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual">
+        <type>id</type>
+        <definition>id file_version</definition>
+        <argsstring>()</argsstring>
+        <name>file_version</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="47"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1a4dd54430d7ccdd48ab38f8f15ae4d87" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>if</definition>
+        <argsstring>(fid==-1) error(err_msg)</argsstring>
+        <name>if</name>
+        <param>
+          <type>fid</type>
+          <defval>=-1</defval>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="51"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_14e05a750514fcad920a55235ecf5b04d" prot="public" static="yes" const="no" explicit="no" inline="no" virt="virtual">
+        <type>fid, &apos;IT++%c&apos;, file_version</type>
+        <definition>fid, &apos;IT++%c&apos;, file_version fprintf</definition>
+        <argsstring>()</argsstring>
+        <name>fprintf</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="56"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1f43d15bf3aafca3e489119a7b034aedb" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>true if</type>
+        <definition>true if scalar</definition>
+        <argsstring>(for future use) is_vector=0</argsstring>
+        <name>scalar</name>
+        <param>
+          <type>for future</type>
+          <declname>use</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="69"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1422effd4a51a50bded0e821258987507" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>sum</definition>
+        <argsstring>(size(v) &gt; 1)&lt;</argsstring>
+        <name>sum</name>
+        <param>
+          <type>size(v)</type>
+        </param>
+        <param>
+          <type>1</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="69"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_13b6bab51c028a3d444b2dd5ef8c74e53" prot="public" static="no" const="no" explicit="no" inline="no" virt="pure-virtual">
+        <type>true if a</type>
+        <definition>true if a vector</definition>
+        <argsstring>(or a scalar) is_intbin=0</argsstring>
+        <name>vector</name>
+        <param>
+          <type>or a</type>
+          <declname>scalar</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="70"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_10f8e4f8a2e3d98ab7261a47ac85f679b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>min</definition>
+        <argsstring>(min(v==round(v)))</argsstring>
+        <name>min</name>
+        <param>
+          <type>min(v==round(v))</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="70"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_126546e5ed84229ef79dbfe76d7afeba1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>true if integer or binary</type>
+        <definition>true if integer or binary if</definition>
+        <argsstring>(isreal(v)&amp;&amp;is_intbin)%binary or integer type if(max(max(v))</argsstring>
+        <name>if</name>
+        <param>
+          <type>isreal(v)&amp;&amp;</type>
+          <declname>is_intbin</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="77"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_16aa15e35d1e69ce194c628ae9c9d6247" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>Write header sizes</type>
+        <definition>Writes header sizes fwrite</definition>
+        <argsstring>(fid,[hdr_bytes data_bytes block_bytes], &apos;uint64&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;uint64&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="87"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1732b8a3c86e86597430033b6edcbf499" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>Write variable name as string</type>
+        <definition>Writes variable name as string fprintf</definition>
+        <argsstring>(fid, &apos;%s%c&apos;, vname)</argsstring>
+        <name>fprintf</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;%s%c&apos;</type>
+        </param>
+        <param>
+          <type>vname</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="89"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1cd41dd5eb86728e576c8a175e64ebca8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fwrite</definition>
+        <argsstring>(fid, 0, &apos;char&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>0</type>
+        </param>
+        <param>
+          <type> &apos;char&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="89"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1dfa2e8596da4e4a69ec2065753d14472" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>Write data type empty description string and data size</type>
+        <definition>Write data type empty description string and data size if</definition>
+        <argsstring>(is_vector) fprintf(fid</argsstring>
+        <name>if</name>
+        <param>
+          <type>is_vector</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="93"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1b6a6ee8950cb64598402f751662b859e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fwrite</definition>
+        <argsstring>(fid, size(v(:), 1), &apos;uint64&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>size(v(:), 1)</type>
+        </param>
+        <param>
+          <type> &apos;uint64&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="94"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_146c5f7ee68bad5c8c359eb7121e03fae" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>else a matrix</type>
+        <definition>else a matrix fprintf</definition>
+        <argsstring>(fid, &apos;bmat&apos;)</argsstring>
+        <name>fprintf</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;bmat&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="96"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_16885b839cf39dcbf08719e94d6f316bf" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fwrite</definition>
+        <argsstring>(fid, size(v), &apos;uint64&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>size(v)</type>
+        </param>
+        <param>
+          <type> &apos;uint64&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="97"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_14905b974332f2fd7b8768572b082d46a" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end Write data</type>
+        <definition>end Write data fwrite</definition>
+        <argsstring>(fid, v, &apos;char&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>v</type>
+        </param>
+        <param>
+          <type> &apos;char&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="100"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_13dfbe214dbcab8a4dafdd7d2f9734c0b" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>else a matrix</type>
+        <definition>else a matrix fprintf</definition>
+        <argsstring>(fid, &apos;imat&apos;)</argsstring>
+        <name>fprintf</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;imat&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="125"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_14c33543a52869d864d777dfdb5388f87" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end Write data</type>
+        <definition>end Write data fwrite</definition>
+        <argsstring>(fid, v, &apos;int32&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>v</type>
+        </param>
+        <param>
+          <type> &apos;int32&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="129"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_15c9ee41a9de83d628104472c1f02323f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end binary or integer</type>
+        <definition>end binary or integer elseif</definition>
+        <argsstring>(isa(v, &apos;double&apos;))%double precision floating point type if(isreal(v))%Check if real values%Calculate sizes if(is_vector) hdr_bytes</argsstring>
+        <name>elseif</name>
+        <param>
+          <type>isa(v, &apos;double&apos;)</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="137"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1a39e1c50f6d00aacc15b1fd3a08e35e8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>else a matrix</type>
+        <definition>else a matrix fprintf</definition>
+        <argsstring>(fid, &apos;dmat&apos;)</argsstring>
+        <name>fprintf</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;dmat&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="156"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1e80f8f39da4aed9c91b1a240a577b17f" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end</type>
+        <definition>end fwrite</definition>
+        <argsstring>(fid, v, &apos;float64&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>v</type>
+        </param>
+        <param>
+          <type> &apos;float64&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="159"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1416044e0e110c71042f7be9014fa78e2" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>Write variable name as string</type>
+        <definition>Write variable name as string fprintf</definition>
+        <argsstring>(fid, &apos;%s&apos;, vname)</argsstring>
+        <name>fprintf</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;%s&apos;</type>
+        </param>
+        <param>
+          <type>vname</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="179"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_111c7347808facfc8824a564233bf4fb6" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>empty description string and data size</type>
+        <definition>empty description string and data size fprintf</definition>
+        <argsstring>(fid, &apos;dcvec&apos;)</argsstring>
+        <name>fprintf</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;dcvec&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="183"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_13b8ba2049bd9b12e02c93fb8d2e6b3b7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fwrite</definition>
+        <argsstring>(fid, imag(v(i)), &apos;float64&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>imag(v(i))</type>
+        </param>
+        <param>
+          <type> &apos;float64&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="188"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1a3492374b3fc5a5ea3d14e9265eda2be" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end else a matrix Write data type empty description string and data size</type>
+        <definition>end else a matrix Write data type empty description string and data size fprintf</definition>
+        <argsstring>(fid, &apos;dcmat&apos;)</argsstring>
+        <name>fprintf</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type> &apos;dcmat&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="192"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1c5f506d26a8fc8279d12e16697fcb0e1" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>fwrite</definition>
+        <argsstring>(fid, imag(v(i, j)), &apos;float64&apos;)</argsstring>
+        <name>fwrite</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <param>
+          <type>imag(v(i, j))</type>
+        </param>
+        <param>
+          <type> &apos;float64&apos;</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="198"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1c7c4c2538297c5074ec6924682557698" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end end end end real or complex else</type>
+        <definition>end end end end real or complex else warning</definition>
+        <argsstring>([&apos;Variable &apos;&apos;&apos;vname &apos;&apos;&apos;is neither a vector nor matrix.Not saved.&apos;])</argsstring>
+        <name>warning</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="204"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_1c1c641b9fd0cf5478fbffe3739e6d689" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>end end</type>
+        <definition>end end fclose</definition>
+        <argsstring>(fid)</argsstring>
+        <name>fclose</name>
+        <param>
+          <type>fid</type>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="209"/>
+      </memberdef>
+      <memberdef kind="function" id="itsave_8m_18626954d4efdb13284810539d1c72971" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>sizeof</type>
+        <definition>sizeof function</definition>
+        <argsstring>(like C-style sizeof)%returns no.bytes used by a variable function nbytes</argsstring>
+        <name>function</name>
+        <param>
+          <type>like C-style</type>
+          <declname>sizeof</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/matlab/itsave.m" line="216"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="normal">%<sp/>File:<sp/><sp/><sp/>itsave.m</highlight></codeline>
+<codeline lineno="2"><highlight class="normal">%<sp/>Brief:<sp/><sp/>Saves<sp/>Matlab/Octave<sp/>workspace<sp/>variables<sp/>to<sp/>an<sp/>IT++<sp/>itfile</highlight></codeline>
+<codeline lineno="3"><highlight class="normal">%<sp/>Author:<sp/>Tony<sp/>Ottosson<sp/>and<sp/>Adam<sp/>Piatyszek</highlight></codeline>
+<codeline lineno="4"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="5"><highlight class="normal">%<sp/>Usage:<sp/>itsave(&quot;fname.it&quot;,<sp/>var1,<sp/>[var2],<sp/>...)</highlight></codeline>
+<codeline lineno="6"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="7"><highlight class="normal">%<sp/>This<sp/>function<sp/>saves<sp/>a<sp/>set<sp/>of<sp/>Matlab/Octave<sp/>workspace<sp/>variables<sp/>to<sp/>an<sp/>IT++</highlight></codeline>
+<codeline lineno="8"><highlight class="normal">%<sp/>file<sp/>format.<sp/>Currently,<sp/>only<sp/>vectors<sp/>and<sp/>2-D<sp/>matrices<sp/>can<sp/>be<sp/>saved.<sp/>The</highlight></codeline>
+<codeline lineno="9"><highlight class="normal">%<sp/>type<sp/>of<sp/>data<sp/>saved<sp/>is<sp/>detected<sp/>automatically<sp/>and<sp/>can<sp/>be<sp/>one<sp/>of<sp/>the</highlight></codeline>
+<codeline lineno="10"><highlight class="normal">%<sp/>following<sp/>types:<sp/>bvec,<sp/>bmat,<sp/>ivec,<sp/>imat,<sp/>vec,<sp/>mat,<sp/>cvec,<sp/>cmat.</highlight></codeline>
+<codeline lineno="11"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="12"><highlight class="normal">%<sp/>-------------------------------------------------------------------------</highlight></codeline>
+<codeline lineno="13"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="14"><highlight class="normal">%<sp/>IT++<sp/>-<sp/>C++<sp/>library<sp/>of<sp/>mathematical,<sp/>signal<sp/>processing,<sp/>speech<sp/>processing,</highlight></codeline>
+<codeline lineno="15"><highlight class="normal">%<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>and<sp/>communications<sp/>classes<sp/>and<sp/>functions</highlight></codeline>
+<codeline lineno="16"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="17"><highlight class="normal">%<sp/>Copyright<sp/>(C)<sp/>1995-2007<sp/><sp/>(see<sp/>AUTHORS<sp/>file<sp/>for<sp/>a<sp/>list<sp/>of<sp/>contributors)</highlight></codeline>
+<codeline lineno="18"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="19"><highlight class="normal">%<sp/>This<sp/>program<sp/>is<sp/>free<sp/>software;<sp/>you<sp/>can<sp/>redistribute<sp/>it<sp/>and/or<sp/>modify</highlight></codeline>
+<codeline lineno="20"><highlight class="normal">%<sp/>it<sp/>under<sp/>the<sp/>terms<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/>as<sp/>published<sp/>by</highlight></codeline>
+<codeline lineno="21"><highlight class="normal">%<sp/>the<sp/>Free<sp/>Software<sp/>Foundation;<sp/>either<sp/>version<sp/>2<sp/>of<sp/>the<sp/>License,<sp/>or</highlight></codeline>
+<codeline lineno="22"><highlight class="normal">%<sp/>(at<sp/>your<sp/>option)<sp/>any<sp/>later<sp/>version.</highlight></codeline>
+<codeline lineno="23"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="24"><highlight class="normal">%<sp/>This<sp/>program<sp/>is<sp/>distributed<sp/>in<sp/>the<sp/>hope<sp/>that<sp/>it<sp/>will<sp/>be<sp/>useful,</highlight></codeline>
+<codeline lineno="25"><highlight class="normal">%<sp/>but<sp/>WITHOUT<sp/>ANY<sp/>WARRANTY;<sp/>without<sp/>even<sp/>the<sp/>implied<sp/>warranty<sp/>of</highlight></codeline>
+<codeline lineno="26"><highlight class="normal">%<sp/>MERCHANTABILITY<sp/>or<sp/>FITNESS<sp/>FOR<sp/>A<sp/>PARTICULAR<sp/>PURPOSE.<sp/><sp/>See<sp/>the</highlight></codeline>
+<codeline lineno="27"><highlight class="normal">%<sp/>GNU<sp/>General<sp/>Public<sp/>License<sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>more<sp/>details.</highlight></codeline>
+<codeline lineno="28"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">%<sp/>You<sp/>should<sp/>have<sp/>received<sp/>a<sp/>copy<sp/>of<sp/>the<sp/>GNU<sp/>General<sp/>Public<sp/>License</highlight></codeline>
+<codeline lineno="30"><highlight class="normal">%<sp/>along<sp/>with<sp/></highlight><highlight class="keyword">this</highlight><highlight class="normal"><sp/>program;<sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>not,<sp/>write<sp/>to<sp/>the<sp/>Free<sp/>Software</highlight></codeline>
+<codeline lineno="31"><highlight class="normal">%<sp/>Foundation,<sp/>Inc.,<sp/>51<sp/>Franklin<sp/>St,<sp/>Fifth<sp/>Floor,<sp/>Boston,<sp/>MA<sp/>02110-1301<sp/>USA</highlight></codeline>
+<codeline lineno="32"><highlight class="normal">%</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">%<sp/>-------------------------------------------------------------------------</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal">function<sp/>itsave(fname,<sp/>varargin)</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(nargin<sp/>&gt;<sp/>1)</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/>vars<sp/>=<sp/>varargin;</highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/>error(</highlight><highlight class="stringliteral">&apos;Usage:<sp/>itsave(&quot;fname.it&quot;,<sp/>var1,<sp/>[var2],<sp/>...)&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="42"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal">nargs<sp/>=<sp/>size(vars,2);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal">%<sp/>The<sp/>current<sp/>file-version<sp/>of<sp/>it_file</highlight></codeline>
+<codeline lineno="47"><highlight class="normal">file_version<sp/>=<sp/>3;</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"></highlight></codeline>
+<codeline lineno="49"><highlight class="normal">[fid,<sp/>err_msg]<sp/>=<sp/>fopen(fname,<sp/></highlight><highlight class="stringliteral">&apos;wb&apos;</highlight><highlight class="normal">,<sp/></highlight><highlight class="stringliteral">&apos;ieee-le&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fid<sp/>==<sp/>-1)</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/>error(err_msg);</highlight></codeline>
+<codeline lineno="52"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"></highlight></codeline>
+<codeline lineno="54"><highlight class="normal">%<sp/>Write<sp/>a<sp/>file<sp/>header<sp/>consisting<sp/>of<sp/></highlight><highlight class="stringliteral">&quot;IT++&quot;</highlight><highlight class="normal"><sp/>and<sp/>a<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"><sp/>containing<sp/>the<sp/>file</highlight></codeline>
+<codeline lineno="55"><highlight class="normal">%<sp/>version<sp/>number</highlight></codeline>
+<codeline lineno="56"><highlight class="normal">fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;IT++%c&apos;</highlight><highlight class="normal">,<sp/>file_version);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>ai=1:nargs</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(exist(</highlight><highlight class="stringliteral">&apos;OCTAVE_VERSION&apos;</highlight><highlight class="normal">))<sp/>%<sp/>check<sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>octave</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>vname<sp/>=<sp/>deblank(argn(ai+1,:));<sp/>%<sp/>octave<sp/>way<sp/>of<sp/>getting<sp/>parameter<sp/>name</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>is_octave=1;<sp/>%used<sp/>by<sp/>function<sp/>itsizeof<sp/>to<sp/>identify<sp/>octave</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>vname<sp/>=<sp/>inputname(ai+1);<sp/>%<sp/>matlab<sp/>way<sp/>of<sp/>getting<sp/>parameter<sp/>name</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>is_octave=0;<sp/>%used<sp/>by<sp/>function<sp/>itsizeof<sp/>to<sp/>identify<sp/>matlab</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/>end</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/>v<sp/>=<sp/>vars{ai};</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/>is_scalar<sp/>=<sp/>all(size(v)<sp/>==<sp/>1);<sp/>%<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>scalar<sp/>(</highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>future<sp/>use)</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/>is_vector<sp/>=<sp/>0;%(sum(size(v)<sp/>&gt;<sp/>1)<sp/>&lt;=<sp/>1);<sp/>%<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>a<sp/>vector<sp/>(or<sp/>a<sp/>scalar)</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/>is_intbin<sp/>=<sp/>0;%min(min(v<sp/>==<sp/>round(v)));<sp/>%<sp/></highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>integer<sp/>or<sp/>binary</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>isreal(v)<sp/>&amp;&amp;<sp/>is_intbin<sp/>)<sp/>%<sp/>binary<sp/>or<sp/>integer<sp/>type</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(max(max(v))<sp/>==<sp/>1<sp/>&amp;&amp;<sp/>min(min(v))<sp/>==<sp/>0)<sp/>%<sp/>binary<sp/>type</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Calculate<sp/>sizes</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;bvec&apos;,is_octave)+1<sp/>+1;</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>itsizeof(char(0),is_octave)<sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;bmat&apos;,is_octave)+1<sp/>+1;</highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>2<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>itsizeof(char(0),is_octave)<sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>block_bytes<sp/>=<sp/>hdr_bytes<sp/>+<sp/>data_bytes;</highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>header<sp/>sizes</highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>[hdr_bytes<sp/>data_bytes<sp/>block_bytes],<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>variable<sp/>name<sp/>as<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;%s%c&apos;</highlight><highlight class="normal">,<sp/>vname);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data<sp/>type<sp/>string,<sp/>empty<sp/>description<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>and<sp/>data<sp/>size</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;bvec&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v(:),1),<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;bmat&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v),<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>v,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>integer<sp/>type</highlight></codeline>
+<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Calculate<sp/>sizes</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;ivec&apos;,is_octave)+1<sp/>+1;</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>itsizeof(int32(0),is_octave)<sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;imat&apos;,is_octave)+1<sp/>+1;</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>2<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>itsizeof(int32(0),is_octave)<sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>block_bytes<sp/>=<sp/>hdr_bytes<sp/>+<sp/>data_bytes;</highlight></codeline>
+<codeline lineno="114"><highlight class="normal"></highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>header<sp/>sizes</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>[hdr_bytes<sp/>data_bytes<sp/>block_bytes],<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>variable<sp/>name<sp/>as<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;%s%c&apos;</highlight><highlight class="normal">,<sp/>vname);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"></highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data<sp/>type<sp/>string,<sp/>empty<sp/>description<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>and<sp/>data<sp/>size</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;ivec&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v(:),1),<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;imat&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v),<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>v,<sp/></highlight><highlight class="stringliteral">&apos;int32&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/>end<sp/>%<sp/>binary<sp/>or<sp/>integer</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/>elseif<sp/>(isa(v,<sp/></highlight><highlight class="stringliteral">&apos;double&apos;</highlight><highlight class="normal">))<sp/>%<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>precision<sp/>floating<sp/>point<sp/>type</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(isreal(v))<sp/>%<sp/>Check<sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>real<sp/>values</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Calculate<sp/>sizes</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;dvec&apos;,is_octave)+1<sp/>+<sp/>1;</highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>itsizeof(double(0),is_octave)<sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;dmat&apos;,is_octave)+1<sp/>+<sp/>1;</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>2<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>itsizeof(double(0),is_octave)<sp/>...</highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>block_bytes<sp/>=<sp/>hdr_bytes<sp/>+<sp/>data_bytes;</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>a<sp/>header</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>[hdr_bytes<sp/>data_bytes<sp/>block_bytes],<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Writes<sp/>variable<sp/>name<sp/>as<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;%s%c&apos;</highlight><highlight class="normal">,<sp/>vname);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"></highlight></codeline>
+<codeline lineno="152"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;dvec&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v(:),1),<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;dmat&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v),<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>v,<sp/></highlight><highlight class="stringliteral">&apos;float64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>complex<sp/>values</highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Calculate<sp/>sizes</highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;dcvec&apos;,is_octave)+1<sp/>+<sp/>1;</highlight></codeline>
+<codeline lineno="166"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>2<sp/>*<sp/>itsizeof(double(0),is_octave)<sp/>...</highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>hdr_bytes<sp/>=<sp/>3<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>size(vname,2)+1<sp/>...</highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>+<sp/>itsizeof(&apos;dcmat&apos;,is_octave)+1<sp/>+<sp/>1;</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>data_bytes<sp/>=<sp/>2<sp/>*<sp/>itsizeof(uint64(0),is_octave)<sp/>+<sp/>2<sp/>*<sp/>itsizeof(double(0),is_octave)<sp/>...</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>*<sp/>prod(size(v));</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>block_bytes<sp/>=<sp/>hdr_bytes<sp/>+<sp/>data_bytes;</highlight></codeline>
+<codeline lineno="175"><highlight class="normal"></highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Writes<sp/>header<sp/>sizes</highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>[hdr_bytes<sp/>data_bytes<sp/>block_bytes],<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>variable<sp/>name<sp/>as<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="179"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;%s&apos;</highlight><highlight class="normal">,<sp/>vname);<sp/><sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="180"><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(is_vector)</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data<sp/>type<sp/>string,<sp/>empty<sp/>description<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>and<sp/>data<sp/>size</highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/></highlight><highlight class="stringliteral">&apos;dcvec&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);<sp/>fwrite(fid,<sp/>0,<sp/></highlight><highlight class="stringliteral">&apos;char&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v(:),1),<sp/></highlight><highlight class="stringliteral">&apos;uint64&apos;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>i=1:size(v(:),1)</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>real(v(i)),<sp/>&apos;float64&apos;);</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>imag(v(i)),<sp/>&apos;float64&apos;);</highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>else<sp/>%<sp/>a<sp/>matrix</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data<sp/>type<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal">,<sp/>empty<sp/>description<sp/></highlight><highlight class="keywordtype">string</highlight><highlight class="normal"><sp/>and<sp/>data<sp/>size</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fprintf(fid,<sp/>&apos;dcmat&apos;);<sp/>fwrite(fid,<sp/>0,<sp/>&apos;</highlight><highlight class="keywordtype">char</highlight><highlight class="normal">&apos;);<sp/>fwrite(fid,<sp/>0,<sp/>&apos;</highlight><highlight class="keywordtype">char</highlight><highlight class="normal">&apos;);</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>size(v),<sp/>&apos;uint64&apos;);</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>%<sp/>Write<sp/>data</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>j=1:size(v,2)</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>i=1:size(v,1)</highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>real(v(i,j)),<sp/>&apos;float64&apos;);</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fwrite(fid,<sp/>imag(v(i,j)),<sp/>&apos;float64&apos;);</highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>end</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/>end<sp/>%<sp/>real<sp/>or<sp/>complex</highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/>else</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>warning([&apos;Variable<sp/>&apos;&apos;&apos;<sp/>vname<sp/>&apos;&apos;&apos;<sp/>is<sp/>neither<sp/>a<sp/>vector<sp/>nor<sp/>matrix.<sp/>Not<sp/>saved.&apos;]);</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/>end</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"></highlight></codeline>
+<codeline lineno="207"><highlight class="normal">end</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal">fclose(fid);</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"></highlight></codeline>
+<codeline lineno="211"><highlight class="normal"></highlight></codeline>
+<codeline lineno="212"><highlight class="normal">%<sp/>sizeof<sp/>function<sp/>(like<sp/>C-style<sp/>sizeof)</highlight></codeline>
+<codeline lineno="213"><highlight class="normal">%<sp/>returns<sp/>no.<sp/>bytes<sp/>used<sp/>by<sp/>a<sp/>variable</highlight></codeline>
+<codeline lineno="214"><highlight class="normal">function<sp/>nbytes=itsizeof(in,is_octave)</highlight></codeline>
+<codeline lineno="215"><highlight class="normal"><sp/><sp/>if<sp/>(~is_octave)</highlight></codeline>
+<codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/>tmp=whos(&apos;in&apos;);</highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/>nbytes=tmp.bytes;</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"></highlight></codeline>
+<codeline lineno="219"><highlight class="normal"><sp/><sp/><sp/><sp/>%<sp/>matlab<sp/>uses<sp/>2<sp/>bytes<sp/>by<sp/>default<sp/>for<sp/></highlight><highlight class="keywordtype">char</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="220"><highlight class="normal"><sp/><sp/><sp/><sp/>%<sp/>overwrite<sp/>using<sp/>1<sp/>byte<sp/>for<sp/>file<sp/>format</highlight></codeline>
+<codeline lineno="221"><highlight class="normal"><sp/><sp/><sp/><sp/>if<sp/>(ischar(in))</highlight></codeline>
+<codeline lineno="222"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>nbytes=size(in,2);</highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/><sp/><sp/>end;</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"><sp/><sp/>else</highlight></codeline>
+<codeline lineno="225"><highlight class="normal"><sp/><sp/><sp/><sp/>nbytes=sizeof(in);</highlight></codeline>
+<codeline lineno="226"><highlight class="normal"><sp/><sp/>end;</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/matlab/itsave.m"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_1d64dbea28bfa2063054ebcb428e5efb.xml
===================================================================
--- /doc/xml/dir_1d64dbea28bfa2063054ebcb428e5efb.xml (revision 187)
+++ /doc/xml/dir_1d64dbea28bfa2063054ebcb428e5efb.xml (revision 187)
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_1d64dbea28bfa2063054ebcb428e5efb" kind="dir">
+    <compoundname>work/mixpp/pmsm/simulator_zdenek/</compoundname>
+    <innerdir refid="dir_8e47ce623716286b3fce3a2429b4cd4a">work/mixpp/pmsm/simulator_zdenek/demo_example/</innerdir>
+    <innerdir refid="dir_11e009577ec01a2ac7ad3947627a7bf1">work/mixpp/pmsm/simulator_zdenek/ekf_example/</innerdir>
+    <innerfile refid="nastaveni__regulatoru__float_8h">nastaveni_regulatoru_float.h</innerfile>
+    <innerfile refid="regulace_8cpp">regulace.cpp</innerfile>
+    <innerfile refid="regulace_8h">regulace.h</innerfile>
+    <innerfile refid="simulator_8cpp">simulator.cpp</innerfile>
+    <innerfile refid="simulator_8h">simulator.h</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/mixpp/pmsm/simulator_zdenek/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/testResample_8cpp.xml
===================================================================
--- /doc/xml/testResample_8cpp.xml (revision 187)
+++ /doc/xml/testResample_8cpp.xml (revision 187)
@@ -0,0 +1,131 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="testResample_8cpp" kind="file">
+    <compoundname>testResample.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
+    <includes refid="libDC_8h" local="no">math/libDC.h</includes>
+    <includes refid="libEF_8h" local="no">stat/libEF.h</includes>
+    <incdepgraph>
+      <node id="913">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="909" relation="include">
+        </childnode>
+      </node>
+      <node id="914">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="909" relation="include">
+        </childnode>
+      </node>
+      <node id="911">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="909" relation="include">
+        </childnode>
+        <childnode refid="912" relation="include">
+        </childnode>
+        <childnode refid="913" relation="include">
+        </childnode>
+        <childnode refid="914" relation="include">
+        </childnode>
+      </node>
+      <node id="910">
+        <label>estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="909" relation="include">
+        </childnode>
+        <childnode refid="911" relation="include">
+        </childnode>
+        <childnode refid="912" relation="include">
+        </childnode>
+      </node>
+      <node id="909">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="912">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="909" relation="include">
+        </childnode>
+      </node>
+      <node id="908">
+        <label>work/git/mixpp/tests/testResample.cpp</label>
+        <link refid="testResample.cpp"/>
+        <childnode refid="909" relation="include">
+        </childnode>
+        <childnode refid="910" relation="include">
+        </childnode>
+        <childnode refid="912" relation="include">
+        </childnode>
+        <childnode refid="911" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="testResample_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/testResample.cpp" line="12" bodyfile="/home/smidl/work/git/mixpp/tests/testResample.cpp" bodystart="12" bodyend="42"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libDC_8h" kindref="compound" tooltip="Matrices in decomposed forms (LDL&amp;#39;, LU, UDU&amp;#39;, etc).">math/libDC.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">stat/libEF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>x(</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>xm=x;<sp/>xm.<ref refid="classRV_1e0a158d53ab9430627241f844f4c9a60" kindref="member" tooltip="Shift time shifted by delta.">t</ref>(-1);</highlight><highlight class="keyword">const</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>y(</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vR<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>R(vR);</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp" kindref="compound" tooltip="Weighted empirical density.">eEmp</ref><sp/>emp(x,10);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeuni" kindref="compound" tooltip="Uniform distributed density on a rectangular support.">euni</ref><sp/>eun(x);</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>eun.set_parameters(</highlight><highlight class="stringliteral">&quot;0&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>emp.set_parameters(ones(10),&amp;eun);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>&amp;v=emp._w();</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;vec&gt;<sp/>&amp;S=emp._samples();</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;10;i++){<sp/>v(i)<sp/>=<sp/>exp(-0.5*sum(pow(S(i)-1,2.0))*10);}</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>v/=sum(v);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;p:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>S<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/></highlight><highlight class="stringliteral">&quot;w:&quot;</highlight><highlight class="normal"><sp/>&lt;&lt;<sp/>v<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ind<sp/>=<sp/>emp.resample();</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>ind<sp/>&lt;&lt;<sp/>endl;</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/testResample.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classmemlog.xml
===================================================================
--- /doc/xml/classmemlog.xml (revision 187)
+++ /doc/xml/classmemlog.xml (revision 187)
@@ -0,0 +1,285 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classmemlog" kind="class" prot="public">
+    <compoundname>memlog</compoundname>
+    <basecompoundref refid="classlogger" prot="public" virt="non-virtual">logger</basecompoundref>
+    <derivedcompoundref refid="classdirfilelog" prot="public" virt="non-virtual">dirfilelog</derivedcompoundref>
+    <includes refid="loggers_8h" local="no">loggers.h</includes>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classmemlog_14195f322897ededdac66c404b848ced3" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int memlog::maxlen</definition>
+        <argsstring></argsstring>
+        <name>maxlen</name>
+        <briefdescription>
+<para>Maximum length of vectors stored in memory. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">init</referencedby>
+        <referencedby refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" compoundref="loggers_8h" startline="87" endline="87">step</referencedby>
+        <referencedby refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" compoundref="loggers_8cpp" startline="117" endline="126">dirfilelog::step</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">dirfilelog::write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmemlog_13410b4c002636508c43ddcba8d394520" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int memlog::ind</definition>
+        <argsstring></argsstring>
+        <name>ind</name>
+        <briefdescription>
+<para>Currect record to be written. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a" compoundref="loggers_8cpp" startline="128" endline="131">dirfilelog::finalize</referencedby>
+        <referencedby refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" compoundref="loggers_8h" startline="88" endline="90">logit</referencedby>
+        <referencedby refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" compoundref="loggers_8h" startline="87" endline="87">step</referencedby>
+        <referencedby refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7" compoundref="loggers_8cpp" startline="117" endline="126">dirfilelog::step</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" prot="protected" static="no" mutable="no">
+        <type>Array&lt; mat &gt;</type>
+        <definition>Array&lt;mat&gt; memlog::vectors</definition>
+        <argsstring></argsstring>
+        <name>vectors</name>
+        <briefdescription>
+<para>Storage. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="75" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="75" bodyend="-1"/>
+        <referencedby refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">itsave</referencedby>
+        <referencedby refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" compoundref="loggers_8h" startline="88" endline="90">logit</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">dirfilelog::write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classlogger_183eea0cf4fbca59474d015f751f128a7" prot="protected" static="no" mutable="no">
+        <type>Array&lt; <ref refid="classRV" kindref="compound">RV</ref> &gt;</type>
+        <definition>Array&lt;RV&gt; logger::entries</definition>
+        <argsstring></argsstring>
+        <name>entries</name>
+        <briefdescription>
+<para>RVs of all logged variables. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="31" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="31" bodyend="-1"/>
+        <referencedby refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" compoundref="loggers_8h" startline="39" endline="45">logger::add</referencedby>
+        <referencedby refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" compoundref="loggers_8h" startline="81" endline="86">init</referencedby>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">dirfilelog::init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">itsave</referencedby>
+        <referencedby refid="classdirfilelog_1bd95cdb46af194245f88a7b4bf4c66c7" compoundref="loggers_8cpp" startline="77" endline="115">dirfilelog::write_buffers</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" prot="protected" static="no" mutable="no">
+        <type>Array&lt; string &gt;</type>
+        <definition>Array&lt;string&gt; logger::names</definition>
+        <argsstring></argsstring>
+        <name>names</name>
+        <briefdescription>
+<para>Names of logged quantities, e.g. names of algorithm variants. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="33" bodyend="-1"/>
+        <referencedby refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" compoundref="loggers_8h" startline="39" endline="45">logger::add</referencedby>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">dirfilelog::init</referencedby>
+        <referencedby refid="classmemlog_165571ebbb16577b5211adbb27baf769c" compoundref="loggers_8cpp" startline="10" endline="23">itsave</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classmemlog_1e056e819c5a65d4431bfe7955b1efe97" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>memlog::memlog</definition>
+        <argsstring>(int maxlen0)</argsstring>
+        <name>memlog</name>
+        <param>
+          <type>int</type>
+          <declname>maxlen0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="79" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="79" bodyend="79"/>
+      </memberdef>
+      <memberdef kind="function" id="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void memlog::init</definition>
+        <argsstring>()</argsstring>
+        <name>init</name>
+        <reimplementedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92">init</reimplementedby>
+        <briefdescription>
+<para>Initialize storage. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="81" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="81" bodyend="86"/>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">logger::entries</references>
+        <references refid="classmemlog_14195f322897ededdac66c404b848ced3" compoundref="loggers_8h" startline="71">maxlen</references>
+        <references refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" compoundref="loggers_8h" startline="75">vectors</references>
+        <referencedby refid="classdirfilelog_1afeaebe003110f9db1ac43edf8e53a92" compoundref="loggers_8cpp" startline="25" endline="74">dirfilelog::init</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void memlog::step</definition>
+        <argsstring>()</argsstring>
+        <name>step</name>
+        <reimplements refid="classlogger_1709b3ebefa0da3ed371aa802b06512a2">step</reimplements>
+        <reimplementedby refid="classdirfilelog_1f5fe9483a041591bfe6f3d6393b02aa7">step</reimplementedby>
+        <briefdescription>
+<para>Shifts storage position for another time step. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="87" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="87" bodyend="87"/>
+        <references refid="classmemlog_13410b4c002636508c43ddcba8d394520" compoundref="loggers_8h" startline="73">ind</references>
+        <references refid="classmemlog_14195f322897ededdac66c404b848ced3" compoundref="loggers_8h" startline="71">maxlen</references>
+      </memberdef>
+      <memberdef kind="function" id="classmemlog_18d2feeb826f7249e9104d616b5a67144" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void memlog::logit</definition>
+        <argsstring>(int id, vec v)</argsstring>
+        <name>logit</name>
+        <reimplements refid="classlogger_1efb5a59cb329f58810b09bd9cc270b78">logit</reimplements>
+        <param>
+          <type>int</type>
+          <declname>id</declname>
+        </param>
+        <param>
+          <type>vec</type>
+          <declname>v</declname>
+        </param>
+        <briefdescription>
+<para>log this vector </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="88" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="88" bodyend="90"/>
+        <references refid="classmemlog_13410b4c002636508c43ddcba8d394520" compoundref="loggers_8h" startline="73">ind</references>
+        <references refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" compoundref="loggers_8h" startline="75">vectors</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classmemlog_165571ebbb16577b5211adbb27baf769c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void memlog::itsave</definition>
+        <argsstring>(const char *fname)</argsstring>
+        <name>itsave</name>
+        <param>
+          <type>const char *</type>
+          <declname>fname</declname>
+        </param>
+        <briefdescription>
+<para>Save values into an itfile named after <computeroutput>fname</computeroutput>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="92" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.cpp" bodystart="10" bodyend="23"/>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">logger::entries</references>
+        <references refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" compoundref="loggers_8h" startline="33">logger::names</references>
+        <references refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" compoundref="loggers_8h" startline="75">vectors</references>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>int</type>
+        <definition>virtual int logger::add</definition>
+        <argsstring>(const RV &amp;rv, string name=&quot;&quot;)</argsstring>
+        <name>add</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rv</declname>
+        </param>
+        <param>
+          <type>string</type>
+          <declname>name</declname>
+          <defval>&quot;&quot;</defval>
+        </param>
+        <briefdescription>
+<para>returns an identifier which will be later needed for calling the log() function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="39" bodyend="45"/>
+        <references refid="classlogger_183eea0cf4fbca59474d015f751f128a7" compoundref="loggers_8h" startline="31">logger::entries</references>
+        <references refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" compoundref="loggers_8h" startline="33">logger::names</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classlogger_151c1aa8a84a14097b51607a187ae3617" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>virtual void logger::finalize</definition>
+        <argsstring>()</argsstring>
+        <name>finalize</name>
+        <reimplementedby refid="classdirfilelog_14d671baf6f88444d7fe25a5b8a80834a">finalize</reimplementedby>
+        <briefdescription>
+<para>Finalize storing information. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="54" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="54" bodyend="54"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Logging into matrices in data format in memory. </para>    </briefdescription>
+    <detaileddescription>
+<para>More?... </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1179">
+        <label>memlog</label>
+        <link refid="classmemlog"/>
+        <childnode refid="1180" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1181">
+        <label>dirfilelog</label>
+        <link refid="classdirfilelog"/>
+        <childnode refid="1179" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1180">
+        <label>logger</label>
+        <link refid="classlogger"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1182">
+        <label>memlog</label>
+        <link refid="classmemlog"/>
+        <childnode refid="1183" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1183">
+        <label>logger</label>
+        <link refid="classlogger"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/loggers.h" bodystart="67" bodyend="93"/>
+    <listofallmembers>
+      <member refid="classlogger_1cfb250a559b71e07a1a6aa92f2185c1b" prot="public" virt="virtual"><scope>memlog</scope><name>add</name></member>
+      <member refid="classlogger_183eea0cf4fbca59474d015f751f128a7" prot="protected" virt="non-virtual"><scope>memlog</scope><name>entries</name></member>
+      <member refid="classlogger_151c1aa8a84a14097b51607a187ae3617" prot="public" virt="virtual"><scope>memlog</scope><name>finalize</name></member>
+      <member refid="classmemlog_13410b4c002636508c43ddcba8d394520" prot="protected" virt="non-virtual"><scope>memlog</scope><name>ind</name></member>
+      <member refid="classmemlog_1b081ef5acb4816e6b5fcb56c19cc7e47" prot="public" virt="non-virtual"><scope>memlog</scope><name>init</name></member>
+      <member refid="classmemlog_165571ebbb16577b5211adbb27baf769c" prot="public" virt="non-virtual"><scope>memlog</scope><name>itsave</name></member>
+      <member refid="classlogger_14f753a510e00c892b38e95c2284363a6" prot="public" virt="non-virtual"><scope>memlog</scope><name>logger</name></member>
+      <member refid="classmemlog_18d2feeb826f7249e9104d616b5a67144" prot="public" virt="virtual"><scope>memlog</scope><name>logit</name></member>
+      <member refid="classmemlog_14195f322897ededdac66c404b848ced3" prot="protected" virt="non-virtual"><scope>memlog</scope><name>maxlen</name></member>
+      <member refid="classmemlog_1e056e819c5a65d4431bfe7955b1efe97" prot="public" virt="non-virtual"><scope>memlog</scope><name>memlog</name></member>
+      <member refid="classlogger_139cb79e839ca8f8bb9dcbc8c5b9c7786" prot="protected" virt="non-virtual"><scope>memlog</scope><name>names</name></member>
+      <member refid="classmemlog_1c97961eda9cda9f0e63c703cf21e5804" prot="public" virt="virtual"><scope>memlog</scope><name>step</name></member>
+      <member refid="classmemlog_1f0f5bc7b83539ad102e8f65297852d91" prot="protected" virt="non-virtual"><scope>memlog</scope><name>vectors</name></member>
+      <member refid="classlogger_192c63a0a87392c62b9ed3c00faa9d5df" prot="public" virt="virtual"><scope>memlog</scope><name>~logger</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classbilinfn.xml
===================================================================
--- /doc/xml/classbilinfn.xml (revision 187)
+++ /doc/xml/classbilinfn.xml (revision 187)
@@ -0,0 +1,453 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classbilinfn" kind="class" prot="public">
+    <compoundname>bilinfn</compoundname>
+    <basecompoundref refid="classdiffbifn" prot="public" virt="non-virtual">diffbifn</basecompoundref>
+    <includes refid="libFN_8h" local="no">libFN.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classbilinfn_1b6fee68f972e258c11f89056bdf20042" prot="private" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat bilinfn::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="100" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="100" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classbilinfn_1d157be10c5388538c33f0909cce48e6e" prot="private" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat bilinfn::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="101" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="101" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec bilinfn::eval</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula>. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="103" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.cpp" bodystart="20" bodyend="25"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+      </memberdef>
+      <memberdef kind="function" id="classbilinfn_1af9f36282730d910a41b95f4d1fb8221" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>bilinfn::bilinfn</definition>
+        <argsstring>(const RV &amp;rvx0, const RV &amp;rvu0)</argsstring>
+        <name>bilinfn</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvx0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvu0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="106" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="106" bodyend="106"/>
+      </memberdef>
+      <memberdef kind="function" id="classbilinfn_1c99f91d7752e131275b219df731868bd" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>bilinfn::bilinfn</definition>
+        <argsstring>(const RV &amp;rvx0, const RV &amp;rvu0, const mat &amp;A0, const mat &amp;B0)</argsstring>
+        <name>bilinfn</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvx0</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvu0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>A0</declname>
+        </param>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>B0</declname>
+        </param>
+        <briefdescription>
+<para>Alternative constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="108" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.cpp" bodystart="6" bodyend="18"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+      </memberdef>
+      <memberdef kind="function" id="classbilinfn_179c022de8dbe2b054bb9cc49345f3ef5" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void bilinfn::dfdx_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;F, bool full)</argsstring>
+        <name>dfdx_cond</name>
+        <reimplements refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4">dfdx_cond</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="1">$A=\frac{d}{dx}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="111" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="110" bodyend="114"/>
+      </memberdef>
+      <memberdef kind="function" id="classbilinfn_190f2b15612b14883d6ed2b0e295cb82b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void bilinfn::dfdu_cond</definition>
+        <argsstring>(const vec &amp;x0, const vec &amp;u0, mat &amp;F, bool full=true)</argsstring>
+        <name>dfdu_cond</name>
+        <reimplements refid="classdiffbifn_11978bafd7909d15c139a08c495c24aa0">dfdu_cond</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>x0</declname>
+        </param>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>u0</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>bool</type>
+          <declname>full</declname>
+          <defval>true</defval>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="2">$A=\frac{d}{du}f(x,u)|_{x0,u0}$</formula> and writes result into <computeroutput>A</computeroutput> . </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>full</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>x0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="28">$x$</formula>, </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>u0</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>numeric value of <formula id="50">$u$</formula> </para></parameterdescription>
+</parameteritem>
+<parameteritem>
+<parameternamelist>
+<parametername>A</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>a place where the result will be stored. </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="117" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="116" bodyend="120"/>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>vec</type>
+        <definition>vec diffbifn::eval</definition>
+        <argsstring>(const vec &amp;cond)</argsstring>
+        <name>eval</name>
+        <reimplements refid="classfnc_17fad2e6cb35909a165ec5a53def4a18c">eval</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>cond</declname>
+        </param>
+        <briefdescription>
+<para>Evaluates <formula id="49">$f(x0,u0)$</formula> (VS: Do we really need common eval? ). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="77" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="76" bodyend="80"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimx</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimx</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="91" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="91" bodyend="91"/>
+        <references refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" compoundref="libFN_8h" startline="71">diffbifn::dimx</references>
+      </memberdef>
+      <memberdef kind="function" id="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int diffbifn::_dimu</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimu</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="93" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="93" bodyend="93"/>
+        <references refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" compoundref="libFN_8h" startline="73">diffbifn::dimu</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>int</type>
+        <definition>int fnc::_dimy</definition>
+        <argsstring>() const </argsstring>
+        <name>_dimy</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="126" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="126" bodyend="126"/>
+        <references refid="classfnc_122d51d10a7901331167f64f80d1af8e9" compoundref="libBM_8h" startline="116">fnc::dimy</references>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvx</definition>
+        <argsstring></argsstring>
+        <name>rvx</name>
+        <briefdescription>
+<para>Indentifier of the first rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="67" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="67" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV diffbifn::rvu</definition>
+        <argsstring></argsstring>
+        <name>rvu</name>
+        <briefdescription>
+<para>Indentifier of the second rv. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="69" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="69" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+<para>cache for rvx.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="71" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="71" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" compoundref="libFN_8h" startline="91" endline="91">diffbifn::_dimx</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int diffbifn::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+<para>cache for rvu.count() </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="73" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="73" bodyend="-1"/>
+        <referencedby refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" compoundref="libFN_8h" startline="89" endline="89">diffbifn::diffbifn</referencedby>
+        <referencedby refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</referencedby>
+        <referencedby refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" compoundref="libFN_8cpp" startline="20" endline="25">eval</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int fnc::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+<para>Length of the output vector. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="116" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="116" bodyend="-1"/>
+        <referencedby refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</referencedby>
+        <referencedby refid="classbilinfn_1c99f91d7752e131275b219df731868bd" compoundref="libFN_8cpp" startline="6" endline="18">bilinfn</referencedby>
+        <referencedby refid="classdiffbifn_140d8a7eee45acc55cda33d43282faa03" compoundref="libFN_8h" startline="83" endline="83">diffbifn::eval</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Class representing function <formula id="48">$f(x,u) = Ax+Bu$</formula>. </para>    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <inheritancegraph>
+      <node id="664">
+        <label>bilinfn</label>
+        <link refid="classbilinfn"/>
+        <childnode refid="665" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="665">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="666" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="666">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="667">
+        <label>bilinfn</label>
+        <link refid="classbilinfn"/>
+        <childnode refid="668" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="670">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="668">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="669" relation="public-inheritance">
+        </childnode>
+        <childnode refid="670" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="669">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" line="99" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libFN.h" bodystart="98" bodyend="121"/>
+    <listofallmembers>
+      <member refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" prot="public" virt="non-virtual"><scope>bilinfn</scope><name>_dimu</name></member>
+      <member refid="classdiffbifn_1436de7a7301ea9eac7d6081b893bbf57" prot="public" virt="non-virtual"><scope>bilinfn</scope><name>_dimx</name></member>
+      <member refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" prot="public" virt="non-virtual"><scope>bilinfn</scope><name>_dimy</name></member>
+      <member refid="classbilinfn_1b6fee68f972e258c11f89056bdf20042" prot="private" virt="non-virtual"><scope>bilinfn</scope><name>A</name></member>
+      <member refid="classbilinfn_1d157be10c5388538c33f0909cce48e6e" prot="private" virt="non-virtual"><scope>bilinfn</scope><name>B</name></member>
+      <member refid="classbilinfn_1af9f36282730d910a41b95f4d1fb8221" prot="public" virt="non-virtual"><scope>bilinfn</scope><name>bilinfn</name></member>
+      <member refid="classbilinfn_1c99f91d7752e131275b219df731868bd" prot="public" virt="non-virtual"><scope>bilinfn</scope><name>bilinfn</name></member>
+      <member refid="classbilinfn_190f2b15612b14883d6ed2b0e295cb82b" prot="public" virt="virtual"><scope>bilinfn</scope><name>dfdu_cond</name></member>
+      <member refid="classbilinfn_179c022de8dbe2b054bb9cc49345f3ef5" prot="public" virt="virtual"><scope>bilinfn</scope><name>dfdx_cond</name></member>
+      <member refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" prot="public" virt="non-virtual"><scope>bilinfn</scope><name>diffbifn</name></member>
+      <member refid="classdiffbifn_12e07ce491e973f03d763e37624d0fe79" prot="protected" virt="non-virtual"><scope>bilinfn</scope><name>dimu</name></member>
+      <member refid="classdiffbifn_1f6918bc0a9dad656b4cddc028137eb78" prot="protected" virt="non-virtual"><scope>bilinfn</scope><name>dimx</name></member>
+      <member refid="classfnc_122d51d10a7901331167f64f80d1af8e9" prot="protected" virt="non-virtual"><scope>bilinfn</scope><name>dimy</name></member>
+      <member refid="classbilinfn_1e36a16e72e7f9fedf3cb18d2d5505a24" prot="public" virt="virtual"><scope>bilinfn</scope><name>eval</name></member>
+      <member refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" prot="public" virt="virtual" ambiguityscope="diffbifn::"><scope>bilinfn</scope><name>eval</name></member>
+      <member refid="classfnc_18a1da32233c3006a4239cf601c413538" prot="public" virt="non-virtual"><scope>bilinfn</scope><name>fnc</name></member>
+      <member refid="classdiffbifn_1c41c74c7942dba51ef0b0bfed963447d" prot="protected" virt="non-virtual"><scope>bilinfn</scope><name>rvu</name></member>
+      <member refid="classdiffbifn_1bcf96b86250c3cbd465ba5ee62474b75" prot="protected" virt="non-virtual"><scope>bilinfn</scope><name>rvx</name></member>
+      <member refid="classfnc_117164c202f6feee3d708b8caab6306ab" prot="public" virt="virtual"><scope>bilinfn</scope><name>~fnc</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classMPF.xml
===================================================================
--- /doc/xml/classMPF.xml (revision 187)
+++ /doc/xml/classMPF.xml (revision 187)
@@ -0,0 +1,500 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classMPF" kind="class" prot="public">
+    <compoundname>MPF</compoundname>
+    <basecompoundref refid="classPF" prot="public" virt="non-virtual">PF</basecompoundref>
+    <includes refid="libPF_8h" local="no">libPF.h</includes>
+    <innerclass refid="classMPF_1_1mpfepdf" prot="private">MPF::mpfepdf</innerclass>
+    <templateparamlist>
+      <param>
+        <type>class</type>
+        <declname>BM_T</declname>
+        <defname>BM_T</defname>
+      </param>
+    </templateparamlist>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classMPF_1b4d094e6314b4ecff1f5c9e5811a7aec" prot="private" static="no" mutable="no">
+        <type>BM_T *</type>
+        <definition>BM_T* MPF&lt; BM_T &gt;::Bms[10000]</definition>
+        <argsstring>[10000]</argsstring>
+        <name>Bms</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="65" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="65" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classMPF_198f4f24b318225fd1a85d727df501259" prot="private" static="no" mutable="no">
+        <type>mpfepdf</type>
+        <definition>mpfepdf MPF&lt; BM_T &gt;::jest</definition>
+        <argsstring></argsstring>
+        <name>jest</name>
+        <briefdescription>
+<para>estimate joining <ref refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" kindref="member">PF.est</ref> with conditional </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="100" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="100" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classMPF_165b869f3cde2e8d3cfcc2752d14d1ca6" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double MPF&lt; BM_T &gt;::SSAT</definition>
+        <argsstring></argsstring>
+        <name>SSAT</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="133" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="133" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>MPF&lt; BM_T &gt;::MPF</definition>
+        <argsstring>(const RV &amp;rvlin, const RV &amp;rvpf, mpdf &amp;par0, mpdf &amp;obs0, int n, const BM_T &amp;BMcond0)</argsstring>
+        <name>MPF</name>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvlin</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+          <declname>rvpf</declname>
+        </param>
+        <param>
+          <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+          <declname>par0</declname>
+        </param>
+        <param>
+          <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+          <declname>obs0</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>n</declname>
+        </param>
+        <param>
+          <type>const BM_T &amp;</type>
+          <declname>BMcond0</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="104" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="104" bodyend="117"/>
+        <references refid="classRV_1935790526b630dec4ffefa9ec0c2b6fb" compoundref="libBM_8cpp" startline="51" endline="78">RV::add</references>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_1939af00a5cb843abdca5f13f02b2d060" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type></type>
+        <definition>MPF&lt; BM_T &gt;::~MPF</definition>
+        <argsstring>()</argsstring>
+        <name>~MPF</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="119" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="119" bodyend="120"/>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_155daf8e4b6553dd9f47c692de7931623" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type>void</type>
+        <definition>void MPF&lt; BM_T &gt;::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classPF_164f636bbd63bea9efd778214e6b631d3">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Incremental Bayes rule. </para>        </briefdescription>
+        <detaileddescription>
+<para><parameterlist kind="param"><parameteritem>
+<parameternamelist>
+<parametername>dt</parametername>
+</parameternamelist>
+<parameterdescription>
+<para>vector of input data </para></parameterdescription>
+</parameteritem>
+</parameterlist>
+</para>        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="122" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="137" bodyend="205"/>
+        <references refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" compoundref="libPF_8h" startline="40">PF::_samples</references>
+        <references refid="classPF_15c87aba508df321ff26536ced64dbb3a" compoundref="libPF_8h" startline="38">PF::_w</references>
+        <references refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" compoundref="libPF_8h" startline="36">PF::est</references>
+        <references refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" compoundref="libPF_8h" startline="34">PF::n</references>
+        <references refid="classPF_1d92ac103f88f8c21e197e90af5695a09" compoundref="libPF_8h" startline="42">PF::par</references>
+        <references refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" compoundref="libEF_8cpp" startline="114" endline="197">eEmp::resample</references>
+        <references refid="classmpdf_13f172b79ec4a5ebc87898a5381141f1b" compoundref="libBM_8h" startline="184" endline="186">mpdf::samplecond</references>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_1549e08268a46a250f21a33d06f19276a" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; MPF&lt; BM_T &gt;::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>Returns a pointer to the <ref refid="classepdf" kindref="compound">epdf</ref> representing posterior density on parameters. Use with care! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="123" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="123" bodyend="123"/>
+      </memberdef>
+      <memberdef kind="function" id="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void MPF&lt; BM_T &gt;::set_est</definition>
+        <argsstring>(const epdf &amp;epdf0)</argsstring>
+        <name>set_est</name>
+        <reimplements refid="classPF_104d38fbcc0348b558212f530d9ec183e">set_est</reimplements>
+        <param>
+          <type>const <ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+          <declname>epdf0</declname>
+        </param>
+        <briefdescription>
+<para>Set postrior of <computeroutput>rvc</computeroutput> to samples from epdf0. Statistics of Bms are not re-computed! Use only for initialization! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="125" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="125" bodyend="130"/>
+        <references refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" compoundref="libPF_8h" startline="40">PF::_samples</references>
+        <references refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" compoundref="libPF_8h" startline="34">PF::n</references>
+        <references refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">PF::set_est</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int PF::n</definition>
+        <argsstring></argsstring>
+        <name>n</name>
+        <briefdescription>
+<para>number of particles; </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="34" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="34" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+        <referencedby refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" compoundref="libPF_8h" startline="125" endline="130">MPF&lt; BM_T &gt;::set_est</referencedby>
+        <referencedby refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">PF::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_11a0a09e309da997f63ae8e30d1e9806b" prot="protected" static="no" mutable="no">
+        <type><ref refid="classeEmp" kindref="compound">eEmp</ref></type>
+        <definition>eEmp PF::est</definition>
+        <argsstring></argsstring>
+        <name>est</name>
+        <briefdescription>
+<para>posterior density </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="36" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="36" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_15c87aba508df321ff26536ced64dbb3a" prot="protected" static="no" mutable="no">
+        <type>vec &amp;</type>
+        <definition>vec&amp; PF::_w</definition>
+        <argsstring></argsstring>
+        <name>_w</name>
+        <briefdescription>
+<para>pointer into <computeroutput><ref refid="classeEmp" kindref="compound">eEmp</ref></computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="38" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="38" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_1cf7dad75e31215780a746c30e71ad9c5" prot="protected" static="no" mutable="no">
+        <type>Array&lt; vec &gt; &amp;</type>
+        <definition>Array&lt;vec&gt;&amp; PF::_samples</definition>
+        <argsstring></argsstring>
+        <name>_samples</name>
+        <briefdescription>
+<para>pointer into <computeroutput><ref refid="classeEmp" kindref="compound">eEmp</ref></computeroutput> </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="40" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="40" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+        <referencedby refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" compoundref="libPF_8h" startline="125" endline="130">MPF&lt; BM_T &gt;::set_est</referencedby>
+        <referencedby refid="classPF_104d38fbcc0348b558212f530d9ec183e" compoundref="libPF_8cpp" startline="35" endline="41">PF::set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_1d92ac103f88f8c21e197e90af5695a09" prot="protected" static="no" mutable="no">
+        <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+        <definition>mpdf&amp; PF::par</definition>
+        <argsstring></argsstring>
+        <name>par</name>
+        <briefdescription>
+<para>Parameter evolution model. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="42" bodyend="-1"/>
+        <referencedby refid="classMPF_155daf8e4b6553dd9f47c692de7931623" compoundref="libPF_8h" startline="137" endline="205">MPF&lt; BM_T &gt;::bayes</referencedby>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classPF_1dd0a687a4515333d6809147335854e77" prot="protected" static="no" mutable="no">
+        <type><ref refid="classmpdf" kindref="compound">mpdf</ref> &amp;</type>
+        <definition>mpdf&amp; PF::obs</definition>
+        <argsstring></argsstring>
+        <name>obs</name>
+        <briefdescription>
+<para>Observation model. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="44" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="44" bodyend="-1"/>
+        <referencedby refid="classPF_164f636bbd63bea9efd778214e6b631d3" compoundref="libPF_8cpp" startline="7" endline="33">PF::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Marginalized Particle filter. </para>    </briefdescription>
+    <detaileddescription>
+<para>Trivial version: proposal = parameter evolution, observation model is not used. (it is assumed to be part of <ref refid="classBM" kindref="compound">BM</ref>). </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="1247">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="1245">
+        <label>MPF&lt; BM_T &gt;</label>
+        <link refid="classMPF"/>
+        <childnode refid="1246" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1246">
+        <label>PF</label>
+        <link refid="classPF"/>
+        <childnode refid="1247" relation="public-inheritance">
+        </childnode>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="1255">
+        <label>BM_T</label>
+      </node>
+      <node id="1253">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="1251" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1250">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="1251" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="1248">
+        <label>MPF&lt; BM_T &gt;</label>
+        <link refid="classMPF"/>
+        <childnode refid="1249" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1255" relation="usage">
+          <edgelabel>Bms</edgelabel>
+        </childnode>
+        <childnode refid="1256" relation="usage">
+          <edgelabel>jest</edgelabel>
+        </childnode>
+      </node>
+      <node id="1249">
+        <label>PF</label>
+        <link refid="classPF"/>
+        <childnode refid="1250" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1252" relation="usage">
+          <edgelabel>obs
+par</edgelabel>
+        </childnode>
+        <childnode refid="1254" relation="usage">
+          <edgelabel>est</edgelabel>
+        </childnode>
+      </node>
+      <node id="1254">
+        <label>eEmp</label>
+        <link refid="classeEmp"/>
+        <childnode refid="1253" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="1251">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="1252">
+        <label>mpdf</label>
+        <link refid="classmpdf"/>
+        <childnode refid="1251" relation="usage">
+          <edgelabel>rv
+rvc</edgelabel>
+        </childnode>
+        <childnode refid="1253" relation="usage">
+          <edgelabel>ep</edgelabel>
+        </childnode>
+      </node>
+      <node id="1256">
+        <label>MPF&lt; BM_T &gt;::mpfepdf</label>
+        <childnode refid="1253" relation="public-inheritance">
+        </childnode>
+        <childnode refid="1254" relation="usage">
+          <edgelabel>E</edgelabel>
+        </childnode>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" line="64" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libPF.h" bodystart="64" bodyend="134"/>
+    <listofallmembers>
+      <member refid="classMPF_1549e08268a46a250f21a33d06f19276a" prot="public" virt="virtual"><scope>MPF</scope><name>_epdf</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>MPF</scope><name>_ll</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>MPF</scope><name>_rv</name></member>
+      <member refid="classPF_1cf7dad75e31215780a746c30e71ad9c5" prot="protected" virt="non-virtual"><scope>MPF</scope><name>_samples</name></member>
+      <member refid="classPF_15c87aba508df321ff26536ced64dbb3a" prot="protected" virt="non-virtual"><scope>MPF</scope><name>_w</name></member>
+      <member refid="classMPF_155daf8e4b6553dd9f47c692de7931623" prot="public" virt="virtual"><scope>MPF</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>MPF</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>MPF</scope><name>BM</name></member>
+      <member refid="classMPF_1b4d094e6314b4ecff1f5c9e5811a7aec" prot="private" virt="non-virtual"><scope>MPF</scope><name>Bms</name></member>
+      <member refid="classPF_11a0a09e309da997f63ae8e30d1e9806b" prot="protected" virt="non-virtual"><scope>MPF</scope><name>est</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual"><scope>MPF</scope><name>evalll</name></member>
+      <member refid="classMPF_198f4f24b318225fd1a85d727df501259" prot="private" virt="non-virtual"><scope>MPF</scope><name>jest</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual"><scope>MPF</scope><name>ll</name></member>
+      <member refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" prot="public" virt="non-virtual"><scope>MPF</scope><name>MPF</name></member>
+      <member refid="classPF_12c2f44ed7a4eaa42e07bdb58d503f280" prot="protected" virt="non-virtual"><scope>MPF</scope><name>n</name></member>
+      <member refid="classPF_1dd0a687a4515333d6809147335854e77" prot="protected" virt="non-virtual"><scope>MPF</scope><name>obs</name></member>
+      <member refid="classPF_1d92ac103f88f8c21e197e90af5695a09" prot="protected" virt="non-virtual"><scope>MPF</scope><name>par</name></member>
+      <member refid="classPF_1e99f0d866721405dd281e315ecb690aa" prot="public" virt="non-virtual"><scope>MPF</scope><name>PF</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>MPF</scope><name>rv</name></member>
+      <member refid="classMPF_17c66e1c1c0e45fc4ae765133cb3a1553" prot="public" virt="non-virtual"><scope>MPF</scope><name>set_est</name></member>
+      <member refid="classMPF_165b869f3cde2e8d3cfcc2752d14d1ca6" prot="public" virt="non-virtual"><scope>MPF</scope><name>SSAT</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>MPF</scope><name>~BM</name></member>
+      <member refid="classMPF_1939af00a5cb843abdca5f13f02b2d060" prot="public" virt="non-virtual"><scope>MPF</scope><name>~MPF</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/xml/blas__test_8cpp.xml
===================================================================
--- /doc/xml/blas__test_8cpp.xml (revision 187)
+++ /doc/xml/blas__test_8cpp.xml (revision 187)
@@ -0,0 +1,173 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="blas__test_8cpp" kind="file">
+    <compoundname>blas_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <incdepgraph>
+      <node id="815">
+        <label>work/git/mixpp/tests/blas_test.cpp</label>
+        <link refid="blas_test.cpp"/>
+        <childnode refid="816" relation="include">
+        </childnode>
+      </node>
+      <node id="816">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="blas__test_8cpp_1df448fe3a98aa0bf92373c2fb4c32924" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>mat</type>
+        <definition>mat matmul</definition>
+        <argsstring>(mat &amp;A, mat &amp;B)</argsstring>
+        <name>matmul</name>
+        <param>
+          <type>mat &amp;</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>mat &amp;</type>
+          <declname>B</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/blas_test.cpp" line="9" bodyfile="/home/smidl/work/git/mixpp/tests/blas_test.cpp" bodystart="9" bodyend="24"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8cpp_12b6f11c64e4fe84091b8de4038f07c23" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void matmul2</definition>
+        <argsstring>(int n, double *A, double *B, double *C)</argsstring>
+        <name>matmul2</name>
+        <param>
+          <type>int</type>
+          <declname>n</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>A</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>B</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>C</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/blas_test.cpp" line="26" bodyfile="/home/smidl/work/git/mixpp/tests/blas_test.cpp" bodystart="26" bodyend="40"/>
+      </memberdef>
+      <memberdef kind="function" id="blas__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/tests/blas_test.cpp" line="42" bodyfile="/home/smidl/work/git/mixpp/tests/blas_test.cpp" bodystart="42" bodyend="83"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal">mat<sp/>matmul<sp/>(<sp/>mat<sp/>&amp;A,<sp/>mat<sp/>&amp;B<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>C<sp/>(<sp/>A.rows(),B.cols()<sp/>);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j,k;</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sum;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;A.rows();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=0;j&lt;A.cols();j++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>k=0;k&lt;A.cols();k++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum+=A._elem<sp/>(<sp/>i,k<sp/>)<sp/>*B._elem<sp/>(<sp/>k,j<sp/>);</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C<sp/>(<sp/>i,j<sp/>)<sp/>=<sp/>sum;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>C;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"></highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>matmul2<sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n,<sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*A,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*B,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*C<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j,k;</highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>sum;</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=0;j&lt;n;j++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum<sp/>=<sp/>0.0;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>k=0;k&lt;n;k++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>sum+=A<sp/>[<sp/>i*n+k<sp/>]<sp/>*<sp/>B<sp/>[<sp/>k*n+j<sp/>];</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C[<sp/>i*n+j]<sp/>=<sp/>sum;</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>return<sp/>C;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"></highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Real_Timer<sp/>tt;</highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>exec_times<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>exec_times_b<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>exec_times_c<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>A;</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>B;</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>C;</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vn=</highlight><highlight class="stringliteral">&quot;5<sp/>50<sp/>200<sp/>500&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>n;</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;vn.length();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>n<sp/>=<sp/>vn<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>=<sp/>randu<sp/>(<sp/>n,n<sp/>);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>B<sp/>=<sp/>randu<sp/>(<sp/>n,n<sp/>);</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"></highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;ii&lt;10;ii++<sp/>)<sp/>{C<sp/>=<sp/>matmul<sp/>(<sp/>A,B<sp/>);}</highlight></codeline>
+<codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times<sp/>(<sp/>i<sp/>)<sp/>=tt.toc();</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"></highlight></codeline>
+<codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;ii&lt;10;ii++<sp/>)<sp/>{C<sp/>=<sp/>A*B;}</highlight></codeline>
+<codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times_b<sp/>(<sp/>i<sp/>)<sp/>=tt.toc();</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>C<sp/>=<sp/>zeros(n,n);</highlight></codeline>
+<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;ii&lt;10;ii++<sp/>)<sp/>{<sp/>matmul2(n,A._data(),B._data(),C._data());}</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times_c<sp/>(<sp/>i<sp/>)<sp/>=tt.toc();</highlight></codeline>
+<codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>exec_times<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>exec_times_b<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>exec_times_c<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>itf<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;blas_test.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;exec_times&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;exec_times;</highlight></codeline>
+<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;exec_times_b&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;exec_times_b;</highlight></codeline>
+<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;exec_times_c&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;exec_times_c;</highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/tests/blas_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/pmsm__mod_8h.xml
===================================================================
--- /doc/xml/pmsm__mod_8h.xml (revision 187)
+++ /doc/xml/pmsm__mod_8h.xml (revision 187)
@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="pmsm__mod_8h" kind="file">
+    <compoundname>pmsm_mod.h</compoundname>
+    <includedby refid="pmsm__mod_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp</includedby>
+    <includedby refid="simul_8cpp" local="yes">work/git/mixpp/pmsm/simulator_zdenek/ekf_example/simul.cpp</includedby>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="pmsm__mod_8h_1b542eb3ff111dec62acb9f73e97fcbfa" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double x[10]</definition>
+        <argsstring>[10]</argsstring>
+        <name>x</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.h" line="8" bodyfile="/home/smidl/work/git/mixpp/matlab/mex/ill_polyfit.m" bodystart="2" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="pmsm__mod_8h_1ba44de7be51364c03f4e2a8bd591f054" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void init_pmsm</definition>
+        <argsstring>(double *param, double *REL)</argsstring>
+        <name>init_pmsm</name>
+        <param>
+          <type>double *</type>
+          <declname>param</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>REL</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.h" line="10"/>
+      </memberdef>
+      <memberdef kind="function" id="pmsm__mod_8h_130e641e4ff70fdbcb19de2bcaba31ceb" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void pmsm_double</definition>
+        <argsstring>(double usx, double usy, double h, unsigned int vypocet)</argsstring>
+        <name>pmsm_double</name>
+        <param>
+          <type>double</type>
+          <declname>usx</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>usy</declname>
+        </param>
+        <param>
+          <type>double</type>
+          <declname>h</declname>
+        </param>
+        <param>
+          <type>unsigned int</type>
+          <declname>vypocet</declname>
+        </param>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.h" line="11"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="comment">/*<sp/>model<sp/>synchronniho<sp/>motoru<sp/>s<sp/>permanentnimi<sp/>magnety</highlight></codeline>
+<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/>PMSM<sp/>v<sp/>plovouci<sp/>radove<sp/>carce<sp/>-<sp/>fyzikalni<sp/>model!</highlight></codeline>
+<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>3.6.2006</highlight></codeline>
+<codeline lineno="6"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[10];<sp/></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fs,Isd,Isq,Mz,beta)<sp/><sp/><sp/><sp/><sp/><sp/>...<sp/>beta=zatezny<sp/>uhel</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight></codeline>
+<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_pmsm(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*REL);</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_double(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>vypocet);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/dir_2d14b206e8adc4305192b33e5248c1dc.xml
===================================================================
--- /doc/xml/dir_2d14b206e8adc4305192b33e5248c1dc.xml (revision 187)
+++ /doc/xml/dir_2d14b206e8adc4305192b33e5248c1dc.xml (revision 187)
@@ -0,0 +1,19 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="dir_2d14b206e8adc4305192b33e5248c1dc" kind="dir">
+    <compoundname>work/git/mixpp/matlab/</compoundname>
+    <innerdir refid="dir_6404be276a1e7b279c98d38682f43759">work/git/mixpp/matlab/mex/</innerdir>
+    <innerfile refid="blas__test_8m">blas_test.m</innerfile>
+    <innerfile refid="itload_8m">itload.m</innerfile>
+    <innerfile refid="itsave_8m">itsave.m</innerfile>
+    <innerfile refid="pmsm__disp_8m">pmsm_disp.m</innerfile>
+    <innerfile refid="pmsm__sim__disp_8m">pmsm_sim_disp.m</innerfile>
+    <innerfile refid="testKF_8m">testKF.m</innerfile>
+    <innerfile refid="testKF__big_8m">testKF_big.m</innerfile>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <location file="/home/smidl/work/git/mixpp/matlab/"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libEF_8cpp.xml
===================================================================
--- /doc/xml/libEF_8cpp.xml (revision 187)
+++ /doc/xml/libEF_8cpp.xml (revision 187)
@@ -0,0 +1,318 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libEF_8cpp" kind="file">
+    <compoundname>libEF.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes local="no">itpp/base/bessel.h</includes>
+    <includes refid="libEF_8h" local="yes">libEF.h</includes>
+    <includes local="no">math.h</includes>
+    <incdepgraph>
+      <node id="382">
+        <label>work/git/mixpp/bdm/stat/libEF.cpp</label>
+        <link refid="libEF.cpp"/>
+        <childnode refid="383" relation="include">
+        </childnode>
+        <childnode refid="384" relation="include">
+        </childnode>
+        <childnode refid="385" relation="include">
+        </childnode>
+        <childnode refid="389" relation="include">
+        </childnode>
+      </node>
+      <node id="387">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="383" relation="include">
+        </childnode>
+      </node>
+      <node id="388">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="383" relation="include">
+        </childnode>
+      </node>
+      <node id="385">
+        <label>libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="383" relation="include">
+        </childnode>
+        <childnode refid="386" relation="include">
+        </childnode>
+        <childnode refid="387" relation="include">
+        </childnode>
+        <childnode refid="388" relation="include">
+        </childnode>
+      </node>
+      <node id="384">
+        <label>itpp/base/bessel.h</label>
+      </node>
+      <node id="389">
+        <label>math.h</label>
+      </node>
+      <node id="383">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="386">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="383" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="var">
+      <memberdef kind="variable" id="libEF_8cpp_12ae7dcdfebede774dd1b1f16cad10dd9" prot="public" static="no" mutable="no">
+        <type>Uniform_RNG</type>
+        <definition>Uniform_RNG UniRNG</definition>
+        <argsstring></argsstring>
+        <name>UniRNG</name>
+        <briefdescription>
+<para>Global Uniform_RNG. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" line="8" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="8" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="libEF_8cpp_1395c5925c8792aef3be4c360e91526c0" prot="public" static="no" mutable="no">
+        <type>Normal_RNG</type>
+        <definition>Normal_RNG NorRNG</definition>
+        <argsstring></argsstring>
+        <name>NorRNG</name>
+        <briefdescription>
+<para>Global Normal_RNG. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" line="9" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="9" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="libEF_8cpp_1884a8348c92a49725b78e2b6ab0bb802" prot="public" static="no" mutable="no">
+        <type><ref refid="classitpp_1_1Gamma__RNG" kindref="compound">Gamma_RNG</ref></type>
+        <definition>Gamma_RNG GamRNG</definition>
+        <argsstring></argsstring>
+        <name>GamRNG</name>
+        <briefdescription>
+<para>Global Gamma_RNG. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp" bodystart="10" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/base/bessel.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libEF_8h" kindref="compound" tooltip="Probability distributions for Exponential Family models.">libEF.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight></codeline>
+<codeline lineno="8" refid="libEF_8h_12ae7dcdfebede774dd1b1f16cad10dd9" refkind="member"><highlight class="normal">Uniform_RNG<sp/>UniRNG;</highlight></codeline>
+<codeline lineno="9" refid="libEF_8h_1395c5925c8792aef3be4c360e91526c0" refkind="member"><highlight class="normal">Normal_RNG<sp/>NorRNG;</highlight></codeline>
+<codeline lineno="10" refid="libEF_8h_1884a8348c92a49725b78e2b6ab0bb802" refkind="member"><highlight class="normal"><ref refid="classitpp_1_1Gamma__RNG" kindref="compound" tooltip="Gamma distribution.">Gamma_RNG</ref><sp/>GamRNG;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"></highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"></highlight></codeline>
+<codeline lineno="14" refid="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f" refkind="member"><highlight class="normal">vec<sp/><ref refid="classegiw_13d2c1f2ba0f9966781f1e0ae695e8a6f" kindref="member" tooltip="Returns the required moment of the epdf.">egiw::sample</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_warning(</highlight><highlight class="stringliteral">&quot;Function<sp/>not<sp/>implemented&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>vec_1(0.0);</highlight></codeline>
+<codeline lineno="17"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight></codeline>
+<codeline lineno="19" refid="classegiw_1425cbc53b377274e28c6add942bab62d" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegiw_1425cbc53b377274e28c6add942bab62d" kindref="member" tooltip="Compute log-probability of argument val.">egiw::evalpdflog</ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>nPsi<sp/>=<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()-1;<sp/></highlight><highlight class="comment">//<sp/>assuming<sp/>1dim<sp/>y</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>k<sp/>=<sp/><ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref><sp/>+<sp/>nPsi<sp/>+<sp/>2;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>r<sp/>=<sp/>val(nPsi);<sp/></highlight><highlight class="comment">//last<sp/>entry!</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Psi(nPsi+1);</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi(0)<sp/>=<sp/>-1.0;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Psi.set_subvector(1,val);<sp/></highlight><highlight class="comment">//<sp/>fill<sp/>the<sp/>rest</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>-0.5*(<sp/>k*log(r)<sp/>+<sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>.<ref refid="classldmat_1d64f331b781903e913cb2ee836886f3f" kindref="member" tooltip="Evaluates quadratic form ;.">qform</ref>(Psi))<sp/>-<sp/><ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();</highlight></codeline>
+<codeline lineno="29"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31" refid="classegiw_170eb1a0b88459b227f919b425b0d3359" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegiw_170eb1a0b88459b227f919b425b0d3359" kindref="member" tooltip="logarithm of the normalizing constant, ">egiw::lognc</ref>()</highlight><highlight class="keyword"><sp/>const</highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec&amp;<sp/>D<sp/>=<sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>.<ref refid="classldmat_1282c879f50aa9ef934e7f46d86881582" kindref="member" tooltip="Access functions.">_D</ref>();</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>nPsi<sp/>=<sp/>D.length()-1;<sp/></highlight><highlight class="comment">//<sp/>assuming<sp/>1dim<sp/>y</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="34"><highlight class="normal"></highlight></codeline>
+<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//<sp/>log(2)<sp/>=<sp/>0.693147180559945286226763983</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="36"><highlight class="normal"></highlight><highlight class="comment">//<sp/>log(pi)<sp/>=<sp/>1.144729885849400163877476189</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>lgamma(0.5*<ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref>)<sp/>+<sp/>0.5*((1.0-<ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref>)*log(D(0))<sp/>-<sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>.<ref refid="classldmat_12b42750ba4962d439aa52a77ae12949b" kindref="member" tooltip="Logarithm of a determinant.">logdet</ref>()<sp/>+<sp/>(<ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref>+nPsi)*0.693147180559945286226763983<sp/>+<sp/>nPsi*1.144729885849400163877476189);</highlight></codeline>
+<codeline lineno="38"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"></highlight></codeline>
+<codeline lineno="40" refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" refkind="member"><highlight class="normal">vec<sp/><ref refid="classegiw_16deb0ff2859f41ef7cbdf6a842cabb29" kindref="member" tooltip="return expected value">egiw::mean</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;L=<sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>.<ref refid="classldmat_15f44f100248c6627314afaa653b9e5bd" kindref="member" tooltip="Access functions.">_L</ref>();</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;D=<sp/><ref refid="classegiw_1f343d03ede89db820edf44a6297fa442" kindref="member" tooltip="Extended information matrix of sufficient statistics.">V</ref>.<ref refid="classldmat_1282c879f50aa9ef934e7f46d86881582" kindref="member" tooltip="Access functions.">_D</ref>();</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>end<sp/>=<sp/>L.rows()-1;</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>L0<sp/>=<sp/>L.get_col(0);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>m(D.length());</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>iLsub<sp/>=<sp/>ltuinv(L(1,end,1,end));</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>m.set_subvector(0,iLsub*L0(1,end));</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>m(end)=<sp/>D(0)/(<ref refid="classegiw_14a2f130b91afe84f6d62fed289d5d453" kindref="member" tooltip="Number of data records (degrees of freedom) of sufficient statistics.">nu</ref>-2.0);</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>m;</highlight></codeline>
+<codeline lineno="53"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55" refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" refkind="member"><highlight class="normal">vec<sp/><ref refid="classegamma_18e10c0021b5dfdd9cb62c6959b5ef425" kindref="member" tooltip="Returns the required moment of the epdf.">egamma::sample</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>smp<sp/>(<sp/><ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>);</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>();<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>GamRNG.<ref refid="classitpp_1_1Gamma__RNG_1dfaae19411e39aa87e1f72e409b6babe" kindref="member" tooltip="Set lambda.">setup</ref><sp/>(<sp/><ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref><sp/>(<sp/>i<sp/>),<ref refid="classegamma_1cfc5f136467488a421ab22f886323790" kindref="member" tooltip="Vector .">beta</ref><sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"></highlight><highlight class="preprocessor"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>#pragma<sp/>omp<sp/>critical</highlight></codeline>
+<codeline lineno="62"><highlight class="preprocessor"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>smp<sp/>(<sp/>i<sp/>)<sp/>=<sp/>GamRNG();</highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>smp;</highlight></codeline>
+<codeline lineno="66"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="67"><highlight class="normal"></highlight></codeline>
+<codeline lineno="68"><highlight class="normal"></highlight><highlight class="comment">//<sp/>mat<sp/>egamma::sample<sp/>(<sp/>int<sp/>N<sp/>)<sp/>const<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="69"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Smp<sp/>(<sp/>rv.count(),N<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>int<sp/>i,j;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight><highlight class="comment">//<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="72"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>(<sp/>i=0;<sp/>i&lt;rv.count();<sp/>i++<sp/>)<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="73"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>GamRNG.setup<sp/>(<sp/>alpha<sp/>(<sp/>i<sp/>),beta<sp/>(<sp/>i<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="74"><highlight class="normal"></highlight><highlight class="comment">//<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="75"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>for<sp/>(<sp/>j=0;<sp/>j&lt;N;<sp/>j++<sp/>)<sp/>{</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Smp<sp/>(<sp/>i,j<sp/>)<sp/>=<sp/>GamRNG();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="78"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="79"><highlight class="normal"></highlight><highlight class="comment">//<sp/></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="80"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>return<sp/>Smp;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="81"><highlight class="normal"></highlight><highlight class="comment">//<sp/>}</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"></highlight></codeline>
+<codeline lineno="83" refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegamma_1de84faac8f9799dfe2777ddbedf997ef" kindref="member" tooltip="TODO: is it used anywhere?">egamma::evalpdflog</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;val<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>res<sp/>=<sp/>0.0;<sp/></highlight><highlight class="comment">//the<sp/>rest<sp/>will<sp/>be<sp/>added</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>();<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>res<sp/>+=<sp/>(<sp/><ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref><sp/>(<sp/>i<sp/>)<sp/>-<sp/>1<sp/>)<sp/>*std::log<sp/>(<sp/>val<sp/>(<sp/>i<sp/>)<sp/>)<sp/>-<sp/><ref refid="classegamma_1cfc5f136467488a421ab22f886323790" kindref="member" tooltip="Vector .">beta</ref><sp/>(<sp/>i<sp/>)<sp/>*val<sp/>(<sp/>i<sp/>);</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="90"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>res-<ref refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" kindref="member" tooltip="logarithm of the normalizing constant, ">lognc</ref>();</highlight></codeline>
+<codeline lineno="92"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="93"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94" refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classegamma_1d6dbbdb72360f9e54d64501f80318bb6" kindref="member" tooltip="logarithm of the normalizing constant, ">egamma::lognc</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>res<sp/>=<sp/>0.0;<sp/></highlight><highlight class="comment">//will<sp/>be<sp/>added</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline>
+<codeline lineno="97"><highlight class="normal"></highlight></codeline>
+<codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;<sp/>i&lt;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>();<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>res<sp/>+=<sp/>lgamma<sp/>(<sp/><ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref><sp/>(<sp/>i<sp/>)<sp/>)<sp/>-<sp/><ref refid="classegamma_1376cebd8932546c440f21b182910b01b" kindref="member" tooltip="Vector .">alpha</ref><sp/>(<sp/>i<sp/>)<sp/>*std::log<sp/>(<sp/><ref refid="classegamma_1cfc5f136467488a421ab22f886323790" kindref="member" tooltip="Vector .">beta</ref><sp/>(<sp/>i<sp/>)<sp/>)<sp/>;</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="101"><highlight class="normal"></highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>res;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight><highlight class="comment">//MGamma</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="106" refid="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" refkind="member"><highlight class="normal"><ref refid="classmgamma_1af43e61b86900c0398d5c0ffc83b94e6" kindref="member" tooltip="Constructor.">mgamma::mgamma</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;<ref refid="classepdf_174da992e3f5d598da8850b646b79b9d9" kindref="member" tooltip="Identified of the random variable.">rv</ref>,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>&amp;rvc<sp/>)<sp/>:<sp/><ref refid="classmEF" kindref="compound" tooltip="Exponential family model.">mEF</ref><sp/>(<sp/>rv,rvc<sp/>),<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref><sp/>(<sp/>rv<sp/>)<sp/>{vec*<sp/>tmp;<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>._param<sp/>(<sp/>tmp,<ref refid="classmgamma_15e90652837448bcc29707e7412f99691" kindref="member" tooltip="cache of epdf.beta">_beta</ref><sp/>);};</highlight></codeline>
+<codeline lineno="107"><highlight class="normal"></highlight></codeline>
+<codeline lineno="108" refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classmgamma_1a9d646cf758a70126dde7c48790b6e94" kindref="member" tooltip="Set value of k.">mgamma::set_parameters</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>k0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma_143f733cce0245a52363d566099add687" kindref="member" tooltip="Constant .">k</ref>=k0;</highlight></codeline>
+<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmpdf_17aa894208a32f3487827df6d5054424c" kindref="member" tooltip="pointer to internal epdf">ep</ref><sp/>=<sp/>&amp;<ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>;</highlight></codeline>
+<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>.set_parameters<sp/>(<sp/><ref refid="classmgamma_143f733cce0245a52363d566099add687" kindref="member" tooltip="Constant .">k</ref>*ones<sp/>(<sp/><ref refid="classmpdf_1f6687c07ff07d47812dd565368ca59eb" kindref="member" tooltip="modeled random variable">rv</ref>.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>()<sp/>),*<ref refid="classmgamma_15e90652837448bcc29707e7412f99691" kindref="member" tooltip="cache of epdf.beta">_beta</ref><sp/>);</highlight></codeline>
+<codeline lineno="112"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="113"><highlight class="normal"></highlight></codeline>
+<codeline lineno="114" refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" refkind="member"><highlight class="normal">ivec<sp/><ref refid="classeEmp_177268292fc4465cb73ddbfb1f2932a59" kindref="member" tooltip="Function performs resampling, i.e. removal of low-weight samples and duplication...">eEmp::resample</ref><sp/>(<sp/><ref refid="libEF_8h_199497a3ff630f761cf6bff7babd23212" kindref="member" tooltip="Switch between various resampling methods.">RESAMPLING_METHOD</ref><sp/>method<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>ind=zeros_i<sp/>(<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ivec<sp/>N_babies<sp/>=<sp/>zeros_i<sp/>(<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>cumDist<sp/>=<sp/>cumsum<sp/>(<sp/><ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref><sp/>);</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>u<sp/>(<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j,parent;</highlight></codeline>
+<codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>u0;</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"></highlight></codeline>
+<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">switch</highlight><highlight class="normal"><sp/>(<sp/>method<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">case</highlight><highlight class="normal"><sp/>MULTINOMIAL:</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>(<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>-<sp/>1<sp/>)<sp/>=<sp/>pow<sp/>(<sp/>UniRNG.sample(),<sp/>1.0<sp/>/<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>-<sp/>2;i<sp/>&gt;=<sp/>0;i--<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>(<sp/>i<sp/>)<sp/>=<sp/>u<sp/>(<sp/>i<sp/>+<sp/>1<sp/>)<sp/>*<sp/>pow<sp/>(<sp/>UniRNG.sample(),<sp/>1.0<sp/>/<sp/>(<sp/>i<sp/>+<sp/>1<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="129"><highlight class="normal"></highlight></codeline>
+<codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="131"><highlight class="normal"></highlight></codeline>
+<codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">case</highlight><highlight class="normal"><sp/>STRATIFIED:</highlight></codeline>
+<codeline lineno="133"><highlight class="normal"></highlight></codeline>
+<codeline lineno="134"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="135"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>(<sp/>i<sp/>)<sp/>=<sp/>(<sp/>i<sp/>+<sp/>UniRNG.sample()<sp/>)<sp/>/<sp/>n;</highlight></codeline>
+<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="139"><highlight class="normal"></highlight></codeline>
+<codeline lineno="140"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">case</highlight><highlight class="normal"><sp/>SYSTEMATIC:</highlight></codeline>
+<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u0<sp/>=<sp/>UniRNG.sample();</highlight></codeline>
+<codeline lineno="142"><highlight class="normal"></highlight></codeline>
+<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>u<sp/>(<sp/>i<sp/>)<sp/>=<sp/>(<sp/>i<sp/>+<sp/>u0<sp/>)<sp/>/<sp/>n;</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="146"><highlight class="normal"></highlight></codeline>
+<codeline lineno="147"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">break</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="148"><highlight class="normal"></highlight></codeline>
+<codeline lineno="149"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">default</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_error<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;PF::resample():<sp/>Unknown<sp/>resampling<sp/>method&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="151"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="152"><highlight class="normal"></highlight></codeline>
+<codeline lineno="153"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>U<sp/>is<sp/>now<sp/>full</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="154"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>j<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="155"><highlight class="normal"></highlight></codeline>
+<codeline lineno="156"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref>;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="157"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(<sp/>u<sp/>(<sp/>i<sp/>)<sp/>&gt;<sp/>cumDist<sp/>(<sp/>j<sp/>)<sp/>)<sp/>j++;</highlight></codeline>
+<codeline lineno="158"><highlight class="normal"></highlight></codeline>
+<codeline lineno="159"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>N_babies<sp/>(<sp/>j<sp/>)<sp/>++;</highlight></codeline>
+<codeline lineno="160"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="161"><highlight class="normal"></highlight></codeline>
+<codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>We<sp/>have<sp/>assigned<sp/>new<sp/>babies<sp/>for<sp/>each<sp/>Particle</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Now,<sp/>we<sp/>fill<sp/>the<sp/>resulting<sp/>index<sp/>such<sp/>that:</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>*<sp/>particles<sp/>with<sp/>at<sp/>least<sp/>one<sp/>baby<sp/>should<sp/>not<sp/>move<sp/>*</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="165"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>This<sp/>assures<sp/>that<sp/>reassignment<sp/>can<sp/>be<sp/>done<sp/>inplace;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="166"><highlight class="normal"></highlight></codeline>
+<codeline lineno="167"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>find<sp/>the<sp/>first<sp/>parent;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>parent=0;<sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(<sp/>N_babies<sp/>(<sp/>parent<sp/>)<sp/>==0<sp/>)<sp/>parent++;</highlight></codeline>
+<codeline lineno="169"><highlight class="normal"></highlight></codeline>
+<codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Build<sp/>index</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i<sp/>=<sp/>0;i<sp/>&lt;<sp/>n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="172"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>N_babies<sp/>(<sp/>i<sp/>)<sp/>&gt;<sp/>0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ind<sp/>(<sp/>i<sp/>)<sp/>=<sp/>i;</highlight></codeline>
+<codeline lineno="174"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>N_babies<sp/>(<sp/>i<sp/>)<sp/>--;<sp/></highlight><highlight class="comment">//this<sp/>index<sp/>was<sp/>now<sp/>replicated;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="175"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}<sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{</highlight></codeline>
+<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>test<sp/>if<sp/>the<sp/>parent<sp/>has<sp/>been<sp/>fully<sp/>replicated</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>if<sp/>yes,<sp/>find<sp/>the<sp/>next<sp/>one</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>(<sp/>(<sp/>N_babies<sp/>(<sp/>parent<sp/>)<sp/>==0<sp/>)<sp/>||<sp/>(<sp/>N_babies<sp/>(<sp/>parent<sp/>)<sp/>==1<sp/>&amp;&amp;<sp/>parent&gt;i<sp/>)<sp/>)<sp/>parent++;</highlight></codeline>
+<codeline lineno="179"><highlight class="normal"></highlight></codeline>
+<codeline lineno="180"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Replicate<sp/>parent</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ind<sp/>(<sp/>i<sp/>)<sp/>=<sp/>parent;</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"></highlight></codeline>
+<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>N_babies<sp/>(<sp/>parent<sp/>)<sp/>--;<sp/></highlight><highlight class="comment">//this<sp/>index<sp/>was<sp/>now<sp/>replicated;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="185"><highlight class="normal"></highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="187"><highlight class="normal"></highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>copy<sp/>the<sp/>internals<sp/>according<sp/>to<sp/>ind</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n;i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>ind<sp/>(<sp/>i<sp/>)<sp/>!=i<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref><sp/>(<sp/>i<sp/>)<sp/>=<ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref><sp/>(<sp/>ind<sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref><sp/>(<sp/>i<sp/>)<sp/>=<sp/>1.0/n;</highlight></codeline>
+<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="195"><highlight class="normal"></highlight></codeline>
+<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>ind;</highlight></codeline>
+<codeline lineno="197"><highlight class="normal">}</highlight></codeline>
+<codeline lineno="198"><highlight class="normal"></highlight></codeline>
+<codeline lineno="199" refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" refkind="member"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classeEmp_16606a656c1b28114f7384c25aaf80e8d" kindref="member" tooltip="Set sample.">eEmp::set_parameters</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;w0,<sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>*<sp/>epdf0<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"></highlight><highlight class="comment">//it_assert_debug(rv==epdf0-&gt;rv(),&quot;Wrong<sp/>epdf0&quot;);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref>=w0;</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref>/=sum<sp/>(<sp/>w0<sp/>);</highlight><highlight class="comment">//renormalize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="203"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref>=<ref refid="classeEmp_1ae78d144404ddba843c93b171b215de8" kindref="member" tooltip="Sample weights .">w</ref>.length();</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref>.set_size<sp/>(<sp/><ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref><sp/>);</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"></highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i&lt;<ref refid="classeEmp_18c33034de0e35f03f8bb85d3d67438fd" kindref="member" tooltip="Number of particles.">n</ref>;i++<sp/>)<sp/>{<ref refid="classeEmp_1a4d6f4bbd6a6824fc39f14676701279a" kindref="member" tooltip="Samples .">samples</ref><sp/>(<sp/>i<sp/>)<sp/>=epdf0-&gt;<ref refid="classepdf_18019654e494bf5e458f6fb947e11b262" kindref="member" tooltip="Returns the required moment of the epdf.">sample</ref>();}</highlight></codeline>
+<codeline lineno="207"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/libEF.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/merger_8cpp.xml
===================================================================
--- /doc/xml/merger_8cpp.xml (revision 187)
+++ /doc/xml/merger_8cpp.xml (revision 187)
@@ -0,0 +1,81 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="merger_8cpp" kind="file">
+    <compoundname>merger.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includes refid="merger_8h" local="yes">merger.h</includes>
+    <incdepgraph>
+      <node id="443">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="441" relation="include">
+        </childnode>
+      </node>
+      <node id="442">
+        <label>merger.h</label>
+        <link refid="merger_8h"/>
+        <childnode refid="441" relation="include">
+        </childnode>
+        <childnode refid="443" relation="include">
+        </childnode>
+        <childnode refid="444" relation="include">
+        </childnode>
+        <childnode refid="447" relation="include">
+        </childnode>
+      </node>
+      <node id="447">
+        <label>emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="443" relation="include">
+        </childnode>
+        <childnode refid="444" relation="include">
+        </childnode>
+      </node>
+      <node id="446">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="441" relation="include">
+        </childnode>
+      </node>
+      <node id="444">
+        <label>libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="441" relation="include">
+        </childnode>
+        <childnode refid="445" relation="include">
+        </childnode>
+        <childnode refid="443" relation="include">
+        </childnode>
+        <childnode refid="446" relation="include">
+        </childnode>
+      </node>
+      <node id="441">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="440">
+        <label>work/git/mixpp/bdm/stat/merger.cpp</label>
+        <link refid="merger.cpp"/>
+        <childnode refid="441" relation="include">
+        </childnode>
+        <childnode refid="442" relation="include">
+        </childnode>
+      </node>
+      <node id="445">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="441" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="merger_8h" kindref="compound" tooltip="Mergers for combination of pdfs.">merger.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/stat/merger.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/tests_2linefit2__c_8cpp.xml
===================================================================
--- /doc/xml/tests_2linefit2__c_8cpp.xml (revision 187)
+++ /doc/xml/tests_2linefit2__c_8cpp.xml (revision 187)
@@ -0,0 +1,156 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="tests_2linefit2__c_8cpp" kind="file">
+    <compoundname>linefit2_c.cpp</compoundname>
+    <includes local="no">itpp/base/itfile.h</includes>
+    <includes refid="arx_8h" local="yes">estim/arx.h</includes>
+    <incdepgraph>
+      <node id="524">
+        <label>work/mixpp/tests/linefit2_c.cpp</label>
+        <link refid="tests/linefit2_c.cpp"/>
+        <childnode refid="525" relation="include">
+        </childnode>
+        <childnode refid="526" relation="include">
+        </childnode>
+      </node>
+      <node id="528">
+        <label>../stat/libFN.h</label>
+        <link refid="libFN_8h-source"/>
+        <childnode refid="527" relation="include">
+        </childnode>
+        <childnode refid="529" relation="include">
+        </childnode>
+      </node>
+      <node id="526">
+        <label>estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="527" relation="include">
+        </childnode>
+        <childnode refid="528" relation="include">
+        </childnode>
+        <childnode refid="530" relation="include">
+        </childnode>
+      </node>
+      <node id="525">
+        <label>itpp/base/itfile.h</label>
+      </node>
+      <node id="529">
+        <label>libBM.h</label>
+        <link refid="libBM_8h"/>
+        <childnode refid="527" relation="include">
+        </childnode>
+      </node>
+      <node id="531">
+        <label>../math/libDC.h</label>
+        <link refid="libDC_8h"/>
+        <childnode refid="527" relation="include">
+        </childnode>
+      </node>
+      <node id="527">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="532">
+        <label>../itpp_ext.h</label>
+        <link refid="itpp__ext_8h-source"/>
+        <childnode refid="527" relation="include">
+        </childnode>
+      </node>
+      <node id="530">
+        <label>../stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="527" relation="include">
+        </childnode>
+        <childnode refid="531" relation="include">
+        </childnode>
+        <childnode refid="529" relation="include">
+        </childnode>
+        <childnode refid="532" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="tests_2linefit2__c_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/linefit2_c.cpp" line="7" bodyfile="/home/smidl/work/mixpp/tests/linefit2_c.cpp" bodystart="7" bodyend="62"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/base/itfile.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="arx_8h" kindref="compound" tooltip="Bayesian Filtering for generalized autoregressive (ARX) model.">estim/arx.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>(){</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>inpf(</highlight><highlight class="stringliteral">&quot;Data.it&quot;</highlight><highlight class="normal">);</highlight></codeline>
+<codeline lineno="9"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Data;</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&gt;&gt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;Data&quot;</highlight><highlight class="normal">)<sp/>&gt;&gt;Data;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Data.rows()&gt;2)<sp/>Data=Data.T();</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"></highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ilow<sp/>=<sp/>0;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ihi<sp/>=<sp/>40;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>Start<sp/>of<sp/>routine<sp/>---------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ndat=Data.cols();</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>npsi=Data.rows()<sp/>+1;<sp/></highlight><highlight class="comment">//add<sp/>a<sp/>constant</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>thr<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;1&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;{<sp/>theta_r<sp/>}&quot;</highlight><highlight class="normal">,vec_1<sp/>(<sp/>npsi<sp/>),vec_1<sp/>(<sp/>0<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>V0=1e-8*eye<sp/>(<sp/>npsi<sp/>);<sp/>V0<sp/>(<sp/>0,0<sp/>)<sp/>=1.0;</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>rgr<sp/>(<sp/>npsi<sp/>);</highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>nu0=3;</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>fitting<sp/>a<sp/>linear<sp/>part<sp/>=&gt;<sp/>third<sp/>coef<sp/>is<sp/>&quot;1&quot;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr<sp/>(<sp/>2<sp/>)<sp/>=<sp/>1.0;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>RESULTS</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Tlls=zeros<sp/>(<sp/>ihi+1,ihi+1);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>AR<sp/>model</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classARX" kindref="compound" tooltip="Linear Autoregressive model with Gaussian noise.">ARX</ref><sp/>Ar<sp/>(<sp/>thr,V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Initialize</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow+2;<sp/>i&lt;ihi-2;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector<sp/>(<sp/>0,Data.get_col<sp/>(<sp/>i<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>FLATTEN</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.get_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>V0<sp/>*=1.0/nu0;<sp/></highlight><highlight class="comment">//<sp/>same<sp/>flattening<sp/>factor<sp/>as<sp/>for<sp/>nu0</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="40"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>V0(0,0)*=1.2;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>nu0=3;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.set_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="43"><highlight class="normal"></highlight></codeline>
+<codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=ilow;<sp/>i&lt;=ihi;<sp/>i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.set_parameters<sp/>(<sp/>V0,nu0<sp/>);</highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=i;<sp/>t&lt;=ihi;<sp/>t++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>rgr.set_subvector<sp/>(<sp/>0,Data.get_col<sp/>(<sp/>t<sp/>)<sp/>);</highlight></codeline>
+<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ar.bayes<sp/>(<sp/>rgr<sp/>);</highlight></codeline>
+<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Tlls<sp/>(<sp/>i,t<sp/>)<sp/>=Ar._tll();</highlight></codeline>
+<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"></highlight></codeline>
+<codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>max_index<sp/>(<sp/>Tlls,ilow,ihi<sp/>);</highlight></codeline>
+<codeline lineno="54"><highlight class="normal"></highlight></codeline>
+<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>------------------<sp/>End<sp/>of<sp/>routine<sp/>-----------------------------</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"></highlight></codeline>
+<codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>max_index(Tlls,ilow,ihi);</highlight></codeline>
+<codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;T&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>Tlls;</highlight></codeline>
+<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;ilow&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>ilow+1;</highlight></codeline>
+<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>inpf<sp/>&lt;&lt;<sp/>Name(</highlight><highlight class="stringliteral">&quot;ihi&quot;</highlight><highlight class="normal">)<sp/>&lt;&lt;<sp/>ihi+1;</highlight></codeline>
+<codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="62"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/tests/linefit2_c.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/libDC_8h.xml
===================================================================
--- /doc/xml/libDC_8h.xml (revision 187)
+++ /doc/xml/libDC_8h.xml (revision 187)
@@ -0,0 +1,358 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="libDC_8h" kind="file">
+    <compoundname>libDC.h</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <includedby refid="libEF_8h" local="yes">work/git/mixpp/bdm/stat/libEF.h</includedby>
+    <includedby refid="chmat_8h" local="yes">work/git/mixpp/bdm/math/chmat.h</includedby>
+    <includedby refid="libPF_8h" local="yes">work/git/mixpp/bdm/estim/libPF.h</includedby>
+    <includedby refid="libDC_8cpp" local="yes">work/git/mixpp/bdm/math/libDC.cpp</includedby>
+    <includedby refid="fsqmat__test_8cpp" local="no">work/git/mixpp/tests/fsqmat_test.cpp</includedby>
+    <includedby refid="ldmat__test_8cpp" local="no">work/git/mixpp/tests/ldmat_test.cpp</includedby>
+    <includedby refid="rv__test_8cpp" local="yes">work/git/mixpp/tests/rv_test.cpp</includedby>
+    <includedby refid="test0_8cpp" local="yes">work/git/mixpp/tests/test0.cpp</includedby>
+    <includedby refid="testPF_8cpp" local="no">work/git/mixpp/tests/testPF.cpp</includedby>
+    <includedby refid="testResample_8cpp" local="no">work/git/mixpp/tests/testResample.cpp</includedby>
+    <incdepgraph>
+      <node id="304">
+        <label>itpp/itbase.h</label>
+      </node>
+      <node id="303">
+        <label>work/git/mixpp/bdm/math/libDC.h</label>
+        <link refid="libDC.h"/>
+        <childnode refid="304" relation="include">
+        </childnode>
+      </node>
+    </incdepgraph>
+    <invincdepgraph>
+      <node id="316">
+        <label>work/git/mixpp/bdm/stat/merger.h</label>
+        <link refid="merger_8h"/>
+      </node>
+      <node id="315">
+        <label>work/git/mixpp/bdm/stat/emix.h</label>
+        <link refid="emix_8h"/>
+        <childnode refid="316" relation="include">
+        </childnode>
+        <childnode refid="311" relation="include">
+        </childnode>
+      </node>
+      <node id="310">
+        <label>work/git/mixpp/bdm/estim/ekf_templ.h</label>
+        <link refid="ekf__templ_8h"/>
+        <childnode refid="311" relation="include">
+        </childnode>
+      </node>
+      <node id="306">
+        <label>work/git/mixpp/bdm/stat/libEF.h</label>
+        <link refid="libEF_8h"/>
+        <childnode refid="307" relation="include">
+        </childnode>
+        <childnode refid="309" relation="include">
+        </childnode>
+        <childnode refid="314" relation="include">
+        </childnode>
+        <childnode refid="315" relation="include">
+        </childnode>
+        <childnode refid="316" relation="include">
+        </childnode>
+      </node>
+      <node id="314">
+        <label>work/git/mixpp/bdm/estim/libPF.h</label>
+        <link refid="libPF_8h"/>
+        <childnode refid="311" relation="include">
+        </childnode>
+      </node>
+      <node id="307">
+        <label>work/git/mixpp/bdm/estim/arx.h</label>
+        <link refid="arx_8h"/>
+        <childnode refid="308" relation="include">
+        </childnode>
+      </node>
+      <node id="308">
+        <label>work/git/mixpp/pmsm/sim_var_arx.cpp</label>
+        <link refid="sim__var__arx_8cpp"/>
+      </node>
+      <node id="312">
+        <label>work/git/mixpp/pmsm/sim_var.cpp</label>
+        <link refid="sim__var_8cpp"/>
+      </node>
+      <node id="317">
+        <label>work/git/mixpp/bdm/math/chmat.h</label>
+        <link refid="chmat_8h"/>
+        <childnode refid="309" relation="include">
+        </childnode>
+        <childnode refid="312" relation="include">
+        </childnode>
+      </node>
+      <node id="309">
+        <label>work/git/mixpp/bdm/estim/libKF.h</label>
+        <link refid="libKF_8h"/>
+        <childnode refid="310" relation="include">
+        </childnode>
+        <childnode refid="312" relation="include">
+        </childnode>
+        <childnode refid="313" relation="include">
+        </childnode>
+      </node>
+      <node id="305">
+        <label>work/git/mixpp/bdm/math/libDC.h</label>
+        <link refid="libDC.h"/>
+        <childnode refid="306" relation="include">
+        </childnode>
+        <childnode refid="317" relation="include">
+        </childnode>
+        <childnode refid="314" relation="include">
+        </childnode>
+      </node>
+      <node id="313">
+        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.h</label>
+        <link refid="ekf__obj_8h"/>
+      </node>
+      <node id="311">
+        <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label>
+        <link refid="pmsm__mix_8cpp"/>
+      </node>
+    </invincdepgraph>
+    <innerclass refid="classsqmat" prot="public">sqmat</innerclass>
+    <innerclass refid="classfsqmat" prot="public">fsqmat</innerclass>
+    <innerclass refid="classldmat" prot="public">ldmat</innerclass>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="libDC_8h_14ed56e73b49db8e7f4a63fa926a8dca4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void dydr</definition>
+        <argsstring>(double *r, double *f, double *Dr, double *Df, double *R, int jl, int jh, double *kr, int m, int mx)</argsstring>
+        <name>dydr</name>
+        <param>
+          <type>double *</type>
+          <declname>r</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>f</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Dr</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>Df</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>R</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>jl</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>jh</declname>
+        </param>
+        <param>
+          <type>double *</type>
+          <declname>kr</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>m</declname>
+        </param>
+        <param>
+          <type>int</type>
+          <declname>mx</declname>
+        </param>
+        <briefdescription>
+<para>Auxiliary function dydr; dyadic reduction. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="21" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="322" bodyend="382"/>
+      </memberdef>
+      <memberdef kind="function" id="libDC_8h_16715d039e6d5d97005cf9e2522dfa474" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>mat</type>
+        <definition>mat ltuinv</definition>
+        <argsstring>(const mat &amp;L)</argsstring>
+        <name>ltuinv</name>
+        <param>
+          <type>const mat &amp;</type>
+          <declname>L</declname>
+        </param>
+        <briefdescription>
+<para>Auxiliary function ltuinv; inversion of a triangular matrix;. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h" line="25" bodyfile="/home/smidl/work/git/mixpp/bdm/math/libDC.cpp" bodystart="301" bodyend="320"/>
+        <references refid="classsqmat_10abed904bdc0882373ba9adba919689d" compoundref="libDC_8h" startline="99">sqmat::dim</references>
+        <references refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" compoundref="libDC_8h" startline="266">ldmat::L</references>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Matrices in decomposed forms (LDL&apos;, LU, UDU&apos;, etc). </para>    </briefdescription>
+    <detaileddescription>
+<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
+----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"></codeline>
+<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>DC_H</highlight></codeline>
+<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>DC_H</highlight></codeline>
+<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"></highlight></codeline>
+<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"></highlight></codeline>
+<codeline lineno="21"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>dydr(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*<sp/>r,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*f,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Dr,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Df,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*R,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>jl,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>jh,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*kr,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>m,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mx<sp/>);</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"></highlight></codeline>
+<codeline lineno="24"><highlight class="comment">//TODO<sp/>can<sp/>be<sp/>done<sp/>via:<sp/>dtrtri.f<sp/>from<sp/>lapack</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="25"><highlight class="normal">mat<sp/>ltuinv(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;L<sp/>);</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"></highlight></codeline>
+<codeline lineno="31" refid="classsqmat" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref></highlight></codeline>
+<codeline lineno="32"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="33"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classsqmat_1b223484796661f2dadb5607a86ce0581" kindref="member">opupdt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>)<sp/>=0;</highlight></codeline>
+<codeline lineno="42"><highlight class="normal"></highlight></codeline>
+<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>mat<sp/><ref refid="classsqmat_19a5b6fddfeb42339e1dc9b978a2590fc" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>=0;</highlight></codeline>
+<codeline lineno="47"><highlight class="normal"></highlight></codeline>
+<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classsqmat_160fbbfa9e483b8187c135f787ee53afa" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>)<sp/>=0;</highlight></codeline>
+<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classsqmat_16909e906da17725b1b80f3cae7cf3325" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C<sp/>)<sp/>=0;</highlight></codeline>
+<codeline lineno="57"><highlight class="normal"></highlight></codeline>
+<codeline lineno="58"><highlight class="normal"></highlight></codeline>
+<codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10a772b396750eeeed85d69fa72478b45" kindref="member" tooltip="Logarithm of a determinant.">logdet</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="64"><highlight class="normal"></highlight></codeline>
+<codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/>vec<sp/><ref refid="classsqmat_16b79438b5d7544a9c8e110a145355d8f" kindref="member" tooltip="Multiplies square root of  by vector .">sqrt_mult</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="71"><highlight class="normal"></highlight></codeline>
+<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classsqmat_1fc026312eb02ba09f85d5aacd6f05ab3" kindref="member" tooltip="Evaluates quadratic form ;.">qform</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="77"><highlight class="normal"></highlight></codeline>
+<codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classsqmat_16230e8e8a9341866aaa0ce008691aac2" kindref="member" tooltip="Evaluates quadratic form ;.">invqform</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>=0;</highlight></codeline>
+<codeline lineno="83"><highlight class="normal"></highlight></codeline>
+<codeline lineno="84"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>//!<sp/>easy<sp/>version<sp/>of<sp/>the</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="85"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>sqmat<sp/>inv();</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="86"><highlight class="normal"></highlight></codeline>
+<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classsqmat_16fca246f9eabbdeb8cac03030e826b5e" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">clear</ref>()<sp/>=0;</highlight></codeline>
+<codeline lineno="89"><highlight class="normal"></highlight></codeline>
+<codeline lineno="91" refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classsqmat_1ecc2e2540f95a04f4449842588170f5b" kindref="member" tooltip="Reimplementing common functions of mat: cols().">cols</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>;};</highlight></codeline>
+<codeline lineno="92"><highlight class="normal"></highlight></codeline>
+<codeline lineno="94" refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classsqmat_1071e80ced9cc3b8cbb360fa7462eb646" kindref="member" tooltip="Reimplementing common functions of mat: cols().">rows</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>;};</highlight></codeline>
+<codeline lineno="95"><highlight class="normal"></highlight></codeline>
+<codeline lineno="97" refid="classsqmat_10481f2067bb32aaea7e6d4f27e46b656" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10481f2067bb32aaea7e6d4f27e46b656" kindref="member" tooltip="Destructor for future use;.">~sqmat</ref>(){};</highlight></codeline>
+<codeline lineno="99" refid="classsqmat_14268750c040c716b2c05037f725078a2" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classsqmat_14268750c040c716b2c05037f725078a2" kindref="member" tooltip="Default constructor.">sqmat</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dim0):<sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>(dim0){};</highlight></codeline>
+<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>;</highlight></codeline>
+<codeline lineno="103"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="104"><highlight class="normal"></highlight></codeline>
+<codeline lineno="105"><highlight class="normal"></highlight></codeline>
+<codeline lineno="110" refid="classfsqmat" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref></highlight></codeline>
+<codeline lineno="111"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="114" refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>;</highlight></codeline>
+<codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1b36530e155667fe9f1bd58394e50c65a" kindref="member">opupdt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>);</highlight></codeline>
+<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classfsqmat_1cedf4f048309056f4262c930914dfda8" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>()<sp/>;</highlight></codeline>
+<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C);</highlight></codeline>
+<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_192052a8adc2054b63e42d1373d145c89" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C);</highlight></codeline>
+<codeline lineno="121"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_15530d2756b5d991de755e6121c9a452e" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;U)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_192052a8adc2054b63e42d1373d145c89" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;U)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1cfa4c359483d2322f32d1d50050f8ac4" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">clear</ref>();</highlight></codeline>
+<codeline lineno="125"><highlight class="normal"></highlight></codeline>
+<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" kindref="member" tooltip="Default initialization.">fsqmat</ref>();<sp/></highlight><highlight class="comment">//<sp/>mat<sp/>will<sp/>be<sp/>initialized<sp/>OK</highlight></codeline>
+<codeline lineno="129"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" kindref="member" tooltip="Default initialization.">fsqmat</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dim0);<sp/></highlight><highlight class="comment">//<sp/>mat<sp/>will<sp/>be<sp/>initialized<sp/>OK</highlight></codeline>
+<codeline lineno="131"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" kindref="member" tooltip="Default initialization.">fsqmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref><sp/>);</highlight></codeline>
+<codeline lineno="133" refid="classfsqmat_1c01f3e9bb590f2a2921369d672f3ce1e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat_179e3f73e0ccd663c7f7e08083d272940" kindref="member" tooltip="Default initialization.">fsqmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;d<sp/>):<ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref>(d.length()){<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>=diag(d);};</highlight></codeline>
+<codeline lineno="134"><highlight class="normal"></highlight></codeline>
+<codeline lineno="136" refid="classfsqmat_12a8f104e4befbc2aa90d8b11edfedb2e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_12a8f104e4befbc2aa90d8b11edfedb2e" kindref="member" tooltip="Destructor for future use;.">~fsqmat</ref>(){};</highlight></codeline>
+<codeline lineno="137"><highlight class="normal"></highlight></codeline>
+<codeline lineno="138"><highlight class="normal"></highlight></codeline>
+<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_19fa853e1ca28f2a1a1c43377e798ecb1" kindref="member" tooltip="Matrix inversion preserving the chosen form.">inv</ref><sp/>(<sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;Inv<sp/>);</highlight></codeline>
+<codeline lineno="145"><highlight class="normal"></highlight></codeline>
+<codeline lineno="146" refid="classfsqmat_1eb0d1358f536e4453b5f99d0418ca1e5" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1eb0d1358f536e4453b5f99d0418ca1e5" kindref="member" tooltip="Logarithm of a determinant.">logdet</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>log<sp/>(<sp/>det<sp/>(<sp/><ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref><sp/>)<sp/>);};</highlight></codeline>
+<codeline lineno="147" refid="classfsqmat_1a6c91b0389e73404324b2314b08d6e87" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1a6c91b0389e73404324b2314b08d6e87" kindref="member" tooltip="Evaluates quadratic form ;.">qform</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(<sp/>v*<sp/>(<sp/><ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>*v<sp/>)<sp/>);};</highlight></codeline>
+<codeline lineno="148" refid="classfsqmat_158075da64ddadd4df40654c35b928c6f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_158075da64ddadd4df40654c35b928c6f" kindref="member" tooltip="Evaluates quadratic form ;.">invqform</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(<sp/>v*<sp/>(<sp/>itpp::inv(<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>)*v<sp/>)<sp/>);};</highlight></codeline>
+<codeline lineno="149" refid="classfsqmat_1842a774077ee34ac3c36d180ab33e103" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classfsqmat_1842a774077ee34ac3c36d180ab33e103" kindref="member" tooltip="Multiplies square root of  by vector .">sqrt_mult</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{mat<sp/>Ch=chol(<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>);<sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>Ch*v;};</highlight></codeline>
+<codeline lineno="150"><highlight class="normal"></highlight></codeline>
+<codeline lineno="152" refid="classfsqmat_1a2e0bf7dbbbbe1d3358064c4ad455f1f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;fsq2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w=1.0<sp/>){<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>+=fsq2.M;};</highlight></codeline>
+<codeline lineno="153"><highlight class="normal"></highlight></codeline>
+<codeline lineno="155" refid="classfsqmat_1922f8190c13987cbcdb33ec2bf5cf105" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1922f8190c13987cbcdb33ec2bf5cf105" kindref="member" tooltip="Access functions.">setD</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;nD){<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>=diag(nD);}</highlight></codeline>
+<codeline lineno="157" refid="classfsqmat_1bcf837b2956745e8986044f5600dbd6e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classfsqmat_1bcf837b2956745e8986044f5600dbd6e" kindref="member" tooltip="Access functions.">getD</ref><sp/>(){</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>diag(<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>);}</highlight></codeline>
+<codeline lineno="159" refid="classfsqmat_103a8f49eb4d38a054ecc522be59cd2ad" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classfsqmat_1922f8190c13987cbcdb33ec2bf5cf105" kindref="member" tooltip="Access functions.">setD</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;nD,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i){</highlight><highlight class="keywordflow">for</highlight><highlight class="normal">(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>j=i;j&lt;nD.length();j++){<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>(j,j)=nD(j-i);}}<sp/></highlight><highlight class="comment">//Fixme<sp/>can<sp/>be<sp/>more<sp/>general</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="160"><highlight class="normal"></highlight></codeline>
+<codeline lineno="161"><highlight class="normal"></highlight></codeline>
+<codeline lineno="163" refid="classfsqmat_1514d1fdd8a382dbd6a774f2cf1ebd3de" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref>&amp;<sp/><ref refid="classfsqmat_1514d1fdd8a382dbd6a774f2cf1ebd3de" kindref="member" tooltip="add another fsqmat matrix">operator += </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;A<sp/>)<sp/>{<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>+=A.<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>;</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;};</highlight></codeline>
+<codeline lineno="165" refid="classfsqmat_1e976bc9d899961e1d2087b0630ed33b7" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref>&amp;<sp/><ref refid="classfsqmat_1e976bc9d899961e1d2087b0630ed33b7" kindref="member" tooltip="subtrack another fsqmat matrix">operator -= </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;A<sp/>)<sp/>{<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>-=A.<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>;</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;};</highlight></codeline>
+<codeline lineno="167" refid="classfsqmat_1af800e7b2146da5e60897255dde80059" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref>&amp;<sp/><ref refid="classfsqmat_1af800e7b2146da5e60897255dde80059" kindref="member" tooltip="multiply by a scalar">operator *= </ref>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x<sp/>)<sp/>{<ref refid="classfsqmat_1a7a1fcb9aae19d1e4daddfc9c22ce453" kindref="member" tooltip="Full matrix on which the operations are performed.">M</ref>*=x;</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;};</highlight></codeline>
+<codeline lineno="168"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fsqmat&amp;<sp/>operator<sp/>=<sp/>(<sp/>const<sp/>fsqmat<sp/>&amp;A)<sp/>{M=A.M;<sp/>return<sp/>*this;};</highlight></codeline>
+<codeline lineno="170"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">friend</highlight><highlight class="normal"><sp/>std::ostream<sp/>&amp;<ref refid="classfsqmat_1e06aba54d61e807b41bd68b5ee6ac22f" kindref="member" tooltip="print full matrix">operator&lt;&lt; </ref>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classfsqmat" kindref="compound" tooltip="Fake sqmat. This class maps sqmat operations to operations on full matrix.">fsqmat</ref><sp/>&amp;sq<sp/>);</highlight></codeline>
+<codeline lineno="171"><highlight class="normal"></highlight></codeline>
+<codeline lineno="172"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="173"><highlight class="normal"></highlight></codeline>
+<codeline lineno="179" refid="classldmat" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>:<sp/><ref refid="classsqmat" kindref="compound" tooltip="Virtual class for representation of double symmetric matrices in square-root form...">sqmat</ref></highlight></codeline>
+<codeline lineno="180"><highlight class="normal">{</highlight></codeline>
+<codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="182"><highlight class="normal"></highlight></codeline>
+<codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;<ref refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" kindref="member" tooltip="Lower-triangular matrix .">L</ref>,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;<ref refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" kindref="member" tooltip="Positive vector .">D</ref><sp/>);</highlight></codeline>
+<codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;V<sp/>);</highlight></codeline>
+<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat</ref><sp/>(<sp/>vec<sp/>D0<sp/>);</highlight></codeline>
+<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat</ref><sp/>();</highlight></codeline>
+<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat_1a12dda6f529580b0377cc45226b43303" kindref="member" tooltip="Default constructor.">ldmat</ref>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>dim0);</highlight></codeline>
+<codeline lineno="193"><highlight class="normal"></highlight></codeline>
+<codeline lineno="195" refid="classldmat_11e2734c0164ce5233c4d709679555138" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/><ref refid="classldmat_11e2734c0164ce5233c4d709679555138" kindref="member" tooltip="Destructor for future use;.">~ldmat</ref>(){};</highlight></codeline>
+<codeline lineno="196"><highlight class="normal"></highlight></codeline>
+<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Reimplementation<sp/>of<sp/>compulsory<sp/>operatios</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="198"><highlight class="normal"></highlight></codeline>
+<codeline lineno="199"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_10f0f6e083e6d947cf58097ffce3ccd1a" kindref="member">opupdt</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w<sp/>);</highlight></codeline>
+<codeline lineno="200"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/><ref refid="classldmat_15b0515da8dc2293d9e4360b74cc26c9e" kindref="member" tooltip="Conversion to full matrix.">to_mat</ref>();</highlight></codeline>
+<codeline lineno="201"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C);</highlight></codeline>
+<codeline lineno="202"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C);</highlight></codeline>
+<codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/></highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;ld2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>w=1.0<sp/>);</highlight></codeline>
+<codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classldmat_12b42750ba4962d439aa52a77ae12949b" kindref="member" tooltip="Logarithm of a determinant.">logdet</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classldmat_1d64f331b781903e913cb2ee836886f3f" kindref="member" tooltip="Evaluates quadratic form ;.">qform</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/><ref refid="classldmat_1d876c5f83e02b3e809b35c9de5068f14" kindref="member" tooltip="Evaluates quadratic form ;.">invqform</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="208"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>sqmat&amp;<sp/>operator<sp/>-=<sp/>(<sp/>const<sp/>sqmat<sp/>&amp;<sp/>ld2<sp/>);</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_14d6e401de9607332305c27e67972a07a" kindref="member" tooltip="Clearing matrix so that it corresponds to zeros.">clear</ref>();</highlight></codeline>
+<codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" kindref="member" tooltip="access function">cols</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" kindref="member" tooltip="access function">rows</ref>()<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="212"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classldmat_1fc380626ced6f9244fb58c5f0231174d" kindref="member" tooltip="Multiplies square root of  by vector .">sqrt_mult</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;v<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="213"><highlight class="normal"></highlight></codeline>
+<codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">virtual</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_12c160cb123c1102face7a50ec566a031" kindref="member" tooltip="Matrix inversion preserving the chosen form.">inv</ref><sp/>(<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;Inv<sp/>)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="218"><highlight class="normal"></highlight></codeline>
+<codeline lineno="223"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_1e967b9425007f0cb6cd59b845f9756d8" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE matrix , i.e. .">mult_sym</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;U)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="224"><highlight class="normal"></highlight></codeline>
+<codeline lineno="229"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_14fd155f38eb6dd5af4bdf9c98a7999a9" kindref="member" tooltip="Inplace symmetric multiplication by a SQUARE transpose of matrix , i.e. .">mult_sym_t</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;C,<sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;U)<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="230"><highlight class="normal"></highlight></codeline>
+<codeline lineno="231"><highlight class="normal"></highlight></codeline>
+<codeline lineno="238"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_1f291faa073e7bc8dfafc7ae93daa2506" kindref="member" tooltip="Transforms general  into pure .">ldform</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat<sp/>&amp;A,</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;D0<sp/>);</highlight></codeline>
+<codeline lineno="239"><highlight class="normal"></highlight></codeline>
+<codeline lineno="241" refid="classldmat_10884a613b94fde61bfc84288e73ce57f" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_10884a613b94fde61bfc84288e73ce57f" kindref="member" tooltip="Access functions.">setD</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;nD){D=nD;}</highlight></codeline>
+<codeline lineno="243" refid="classldmat_17619922b4de18830ce5351c6b5667e60" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_10884a613b94fde61bfc84288e73ce57f" kindref="member" tooltip="Access functions.">setD</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;nD,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i){D.replace_mid(i,nD);}<sp/></highlight><highlight class="comment">//Fixme<sp/>can<sp/>be<sp/>more<sp/>general</highlight></codeline>
+<codeline lineno="245" refid="classldmat_132ff66296627ff5341d7c0b973249614" refkind="member"><highlight class="comment"></highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classldmat_132ff66296627ff5341d7c0b973249614" kindref="member" tooltip="Access functions.">setL</ref><sp/>(</highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;nL){L=nL;}</highlight></codeline>
+<codeline lineno="246"><highlight class="normal"></highlight></codeline>
+<codeline lineno="248" refid="classldmat_1282c879f50aa9ef934e7f46d86881582" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec&amp;<sp/><ref refid="classldmat_1282c879f50aa9ef934e7f46d86881582" kindref="member" tooltip="Access functions.">_D</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>D;}</highlight></codeline>
+<codeline lineno="250" refid="classldmat_15f44f100248c6627314afaa653b9e5bd" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>mat&amp;<sp/><ref refid="classldmat_15f44f100248c6627314afaa653b9e5bd" kindref="member" tooltip="Access functions.">_L</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>L;}</highlight></codeline>
+<codeline lineno="251"><highlight class="normal"></highlight></codeline>
+<codeline lineno="253"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/><ref refid="classldmat_1ca445ee152a56043af946ea095b2d8f8" kindref="member" tooltip="add another ldmat matrix">operator += </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;ldA<sp/>);</highlight></codeline>
+<codeline lineno="255"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/><ref refid="classldmat_1e3f4d2d85ab1ba384c852329aa31d0fb" kindref="member" tooltip="subtract another ldmat matrix">operator -= </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;ldA<sp/>);</highlight></codeline>
+<codeline lineno="257"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/><ref refid="classldmat_1875b7e6dcf73ae7001329099019fdb1d" kindref="member" tooltip="multiply by a scalar">operator *= </ref>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x<sp/>);</highlight></codeline>
+<codeline lineno="258"><highlight class="normal"></highlight></codeline>
+<codeline lineno="260"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">friend</highlight><highlight class="normal"><sp/>std::ostream<sp/>&amp;<ref refid="classldmat_1eaaa0baa6026b84cfcbced41c84599d1" kindref="member" tooltip="print both L and D ">operator&lt;&lt; </ref>(<sp/>std::ostream<sp/>&amp;os,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;sq<sp/>);</highlight></codeline>
+<codeline lineno="261"><highlight class="normal"></highlight></codeline>
+<codeline lineno="262"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline>
+<codeline lineno="264" refid="classldmat_14cce04824539c4a8d062d9a36d6e014e" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>D;</highlight></codeline>
+<codeline lineno="266" refid="classldmat_1f74a64b99fe58a75ebd37bb679e121ea" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>L;</highlight></codeline>
+<codeline lineno="267"><highlight class="normal"></highlight></codeline>
+<codeline lineno="268"><highlight class="normal">};</highlight></codeline>
+<codeline lineno="269"><highlight class="normal"></highlight></codeline>
+<codeline lineno="270"><highlight class="normal"></highlight></codeline>
+<codeline lineno="273" refid="classldmat_1ca445ee152a56043af946ea095b2d8f8" refkind="member"><highlight class="keyword">inline</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/><ref refid="classldmat_1ca445ee152a56043af946ea095b2d8f8" kindref="member" tooltip="add another ldmat matrix">ldmat::operator += </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;ldA<sp/>)<sp/><sp/>{this-&gt;</highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/>ldA<sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;}</highlight></codeline>
+<codeline lineno="275" refid="classldmat_1e3f4d2d85ab1ba384c852329aa31d0fb" refkind="member"><highlight class="keyword">inline</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref>&amp;<sp/><ref refid="classldmat_1e3f4d2d85ab1ba384c852329aa31d0fb" kindref="member" tooltip="subtract another ldmat matrix">ldmat::operator -= </ref>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/><ref refid="classldmat" kindref="compound" tooltip="Matrix stored in LD form, (typically known as UD).">ldmat</ref><sp/>&amp;ldA<sp/>)<sp/><sp/>{this-&gt;</highlight><highlight class="keyword">add</highlight><highlight class="normal"><sp/>(<sp/>ldA,-1.0<sp/>);</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>*</highlight><highlight class="keyword">this</highlight><highlight class="normal">;}</highlight></codeline>
+<codeline lineno="277" refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" refkind="member"><highlight class="keyword">inline</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classldmat_10fceb6b5b637cec89bb0a3d2e6be1306" kindref="member" tooltip="access function">ldmat::cols</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>;}</highlight></codeline>
+<codeline lineno="279" refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" refkind="member"><highlight class="keyword">inline</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="classldmat_196dfb21865db4f5bd36fa70f9b0b1163" kindref="member" tooltip="access function">ldmat::rows</ref>()</highlight><highlight class="keyword"><sp/>const<sp/></highlight><highlight class="normal">{</highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/><ref refid="classsqmat_10abed904bdc0882373ba9adba919689d" kindref="member" tooltip="dimension of the square matrix">dim</ref>;}</highlight></codeline>
+<codeline lineno="280"><highlight class="normal"></highlight></codeline>
+<codeline lineno="281"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//<sp/>DC_H</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/git/mixpp/bdm/math/libDC.h"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/struct__test_8cpp.xml
===================================================================
--- /doc/xml/struct__test_8cpp.xml (revision 187)
+++ /doc/xml/struct__test_8cpp.xml (revision 187)
@@ -0,0 +1,73 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="struct__test_8cpp" kind="file">
+    <compoundname>struct_test.cpp</compoundname>
+    <includes local="no">itpp/itbase.h</includes>
+    <incdepgraph>
+      <node id="852">
+        <label>work/mixpp/tests/struct_test.cpp</label>
+        <link refid="struct_test.cpp"/>
+        <childnode refid="853" relation="include">
+        </childnode>
+      </node>
+      <node id="853">
+        <label>itpp/itbase.h</label>
+      </node>
+    </incdepgraph>
+      <sectiondef kind="func">
+      <memberdef kind="function" id="struct__test_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>int</type>
+        <definition>int main</definition>
+        <argsstring>()</argsstring>
+        <name>main</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/mixpp/tests/struct_test.cpp" line="9" bodyfile="/home/smidl/work/mixpp/tests/struct_test.cpp" bodystart="9" bodyend="33"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+    </briefdescription>
+    <detaileddescription>
+    </detaileddescription>
+    <programlisting>
+<codeline lineno="1"><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="2"><highlight class="normal"></highlight></codeline>
+<codeline lineno="3"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
+<codeline lineno="4"><highlight class="normal"></highlight></codeline>
+<codeline lineno="5"><highlight class="normal"></highlight><highlight class="comment">//These<sp/>lines<sp/>are<sp/>needed<sp/>for<sp/>use<sp/>of<sp/>cout<sp/>and<sp/>endl</highlight><highlight class="normal"></highlight></codeline>
+<codeline lineno="6"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::cout;</highlight></codeline>
+<codeline lineno="7"><highlight class="normal"></highlight><highlight class="keyword">using</highlight><highlight class="normal"><sp/>std::endl;</highlight></codeline>
+<codeline lineno="8"><highlight class="normal"></highlight></codeline>
+<codeline lineno="9"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline>
+<codeline lineno="10"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Real_Timer<sp/>tt;</highlight></codeline>
+<codeline lineno="11"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>exec_times<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="12"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>exec_times_f<sp/>(<sp/>4<sp/>);</highlight></codeline>
+<codeline lineno="13"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i,j;</highlight></codeline>
+<codeline lineno="14"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>n<sp/>=<sp/></highlight><highlight class="stringliteral">&quot;1000<sp/>10000<sp/>100000&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="15"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Array&lt;vec&gt;<sp/>S=</highlight><highlight class="stringliteral">&quot;{[2<sp/>]<sp/>[3<sp/>]}<sp/>&quot;</highlight><highlight class="normal">;</highlight></codeline>
+<codeline lineno="16"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="17"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>i=0;i&lt;n.length();i++<sp/>)<sp/>{</highlight></codeline>
+<codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>tt.tic();</highlight></codeline>
+<codeline lineno="19"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>S(1)(1)=0;</highlight></codeline>
+<codeline lineno="20"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/>j=0;j&lt;n(i);j++<sp/>)<sp/>S(1)+=1;</highlight></codeline>
+<codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times<sp/>(<sp/>i<sp/>)<sp/>=tt.toc();</highlight></codeline>
+<codeline lineno="22"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="23"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>exec_times_f<sp/>(<sp/>i<sp/>)<sp/>=tt.toc();</highlight></codeline>
+<codeline lineno="24"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
+<codeline lineno="25"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>exec_times<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/>&lt;&lt;<sp/>exec_times_f<sp/>&lt;&lt;endl;</highlight></codeline>
+<codeline lineno="27"><highlight class="normal"></highlight></codeline>
+<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>itf<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;struct_test.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
+<codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;exec_times&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;exec_times;</highlight></codeline>
+<codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>itf<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;exec_times_f&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;exec_times;</highlight></codeline>
+<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
+<codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline>
+<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
+    </programlisting>
+    <location file="/home/smidl/work/mixpp/tests/struct_test.cpp"/>
+  </compounddef>
+</doxygen>
Index: /doc/xml/classEKFfull.xml
===================================================================
--- /doc/xml/classEKFfull.xml (revision 187)
+++ /doc/xml/classEKFfull.xml (revision 187)
@@ -0,0 +1,705 @@
+<?xml version='1.0' encoding='UTF-8' standalone='no'?>
+<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
+  <compounddef id="classEKFfull" kind="class" prot="public">
+    <compoundname>EKFfull</compoundname>
+    <basecompoundref refid="classKalmanFull" prot="public" virt="non-virtual">KalmanFull</basecompoundref>
+    <basecompoundref refid="classBM" prot="public" virt="non-virtual">BM</basecompoundref>
+    <derivedcompoundref refid="classEKF__unQful" prot="public" virt="non-virtual">EKF_unQful</derivedcompoundref>
+    <derivedcompoundref refid="classEKFful__unQR" prot="public" virt="non-virtual">EKFful_unQR</derivedcompoundref>
+    <includes refid="libKF_8h" local="no">libKF.h</includes>
+      <sectiondef kind="private-attrib">
+      <memberdef kind="variable" id="classEKFfull_15acf7c46b61432b25faf8abd0e7aed1a" prot="private" static="no" mutable="no">
+        <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+        <definition>diffbifn* EKFfull::pfxu</definition>
+        <argsstring></argsstring>
+        <name>pfxu</name>
+        <briefdescription>
+<para>Internal Model f(x,u). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="173" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="173" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfull_1e650a98cec5062d76ca3fd2711193df2" prot="private" static="no" mutable="no">
+        <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+        <definition>diffbifn* EKFfull::phxu</definition>
+        <argsstring></argsstring>
+        <name>phxu</name>
+        <briefdescription>
+<para>Observation Model h(x,u). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="175" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="175" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classEKFfull_1e9d5297dc57205557ffcf675058bafc1" prot="private" static="no" mutable="no">
+        <type><ref refid="classenorm" kindref="compound">enorm</ref>&lt; <ref refid="classfsqmat" kindref="compound">fsqmat</ref> &gt;</type>
+        <definition>enorm&lt;fsqmat&gt; EKFfull::E</definition>
+        <argsstring></argsstring>
+        <name>E</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="177" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="177" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-func">
+      <memberdef kind="function" id="classEKFfull_167ac4de96fd025197da767fe0472c7f7" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type></type>
+        <definition>EKFfull::EKFfull</definition>
+        <argsstring>(RV rvx, RV rvy, RV rvu)</argsstring>
+        <name>EKFfull</name>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvx</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvy</declname>
+        </param>
+        <param>
+          <type><ref refid="classRV" kindref="compound">RV</ref></type>
+          <declname>rvu</declname>
+        </param>
+        <briefdescription>
+<para>Default constructor. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="180" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="64" bodyend="64"/>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::set_parameters</definition>
+        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const mat Q0, const mat R0)</argsstring>
+        <name>set_parameters</name>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>pfxu</declname>
+        </param>
+        <param>
+          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
+          <declname>phxu</declname>
+        </param>
+        <param>
+          <type>const mat</type>
+          <declname>Q0</declname>
+        </param>
+        <param>
+          <type>const mat</type>
+          <declname>R0</declname>
+        </param>
+        <briefdescription>
+<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="182" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="66" bodyend="84"/>
+        <references refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</references>
+        <references refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</references>
+        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::bayes</definition>
+        <argsstring>(const vec &amp;dt)</argsstring>
+        <name>bayes</name>
+        <reimplements refid="classKalmanFull_113a041cd98ff157703766be275a657bb">bayes</reimplements>
+        <param>
+          <type>const vec &amp;</type>
+          <declname>dt</declname>
+        </param>
+        <briefdescription>
+<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="86" bodyend="114"/>
+        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
+        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
+        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
+        <references refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" compoundref="libEF_8h" startline="103" endline="103">enorm&lt; sq_T &gt;::set_mu</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
+        <type>void</type>
+        <definition>void EKFfull::set_est</definition>
+        <argsstring>(vec mu0, mat P0)</argsstring>
+        <name>set_est</name>
+        <param>
+          <type>vec</type>
+          <declname>mu0</declname>
+        </param>
+        <param>
+          <type>mat</type>
+          <declname>P0</declname>
+        </param>
+        <briefdescription>
+<para>set estimates </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="186" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="186" bodyend="186"/>
+        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
+        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
+        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
+        <definition>epdf&amp; EKFfull::_epdf</definition>
+        <argsstring>()</argsstring>
+        <name>_epdf</name>
+        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
+        <briefdescription>
+<para>dummy! </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="188" bodyend="188"/>
+        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>void</type>
+        <definition>void BM::bayes</definition>
+        <argsstring>(mat Dt)</argsstring>
+        <name>bayes</name>
+        <param>
+          <type>mat</type>
+          <declname>Dt</declname>
+        </param>
+        <briefdescription>
+<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
+      </memberdef>
+      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
+        <definition>const RV&amp; BM::_rv</definition>
+        <argsstring>() const </argsstring>
+        <name>_rv</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
+        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
+      </memberdef>
+      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
+        <type>double</type>
+        <definition>double BM::_ll</definition>
+        <argsstring>() const </argsstring>
+        <name>_ll</name>
+        <briefdescription>
+<para>access function </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
+        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="protected-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimx</definition>
+        <argsstring></argsstring>
+        <name>dimx</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimy</definition>
+        <argsstring></argsstring>
+        <name>dimy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" static="no" mutable="no">
+        <type>int</type>
+        <definition>int KalmanFull::dimu</definition>
+        <argsstring></argsstring>
+        <name>dimu</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::A</definition>
+        <argsstring></argsstring>
+        <name>A</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::B</definition>
+        <argsstring></argsstring>
+        <name>B</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::C</definition>
+        <argsstring></argsstring>
+        <name>C</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::D</definition>
+        <argsstring></argsstring>
+        <name>D</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::R</definition>
+        <argsstring></argsstring>
+        <name>R</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::Q</definition>
+        <argsstring></argsstring>
+        <name>Q</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Pp</definition>
+        <argsstring></argsstring>
+        <name>_Pp</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_Ry</definition>
+        <argsstring></argsstring>
+        <name>_Ry</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_iRy</definition>
+        <argsstring></argsstring>
+        <name>_iRy</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::_K</definition>
+        <argsstring></argsstring>
+        <name>_K</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
+        <type><ref refid="classRV" kindref="compound">RV</ref></type>
+        <definition>RV BM::rv</definition>
+        <argsstring></argsstring>
+        <name>rv</name>
+        <briefdescription>
+<para>Random variable of the posterior. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
+        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
+        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">set_parameters</referencedby>
+        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
+        <type>double</type>
+        <definition>double BM::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
+        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool BM::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
+        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
+        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
+        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
+        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">bayes</referencedby>
+        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="public-attrib">
+      <memberdef kind="variable" id="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" static="no" mutable="no">
+        <type>vec</type>
+        <definition>vec KalmanFull::mu</definition>
+        <argsstring></argsstring>
+        <name>mu</name>
+        <briefdescription>
+<para>Mean value of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="37" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">set_est</referencedby>
+        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">set_parameters</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" static="no" mutable="no">
+        <type>mat</type>
+        <definition>mat KalmanFull::P</definition>
+        <argsstring></argsstring>
+        <name>P</name>
+        <briefdescription>
+<para>Variance of the posterior density. </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="39" bodyend="-1"/>
+        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">bayes</referencedby>
+        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
+        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
+        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">set_est</referencedby>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" static="no" mutable="no">
+        <type>bool</type>
+        <definition>bool KalmanFull::evalll</definition>
+        <argsstring></argsstring>
+        <name>evalll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="41" bodyend="-1"/>
+      </memberdef>
+      <memberdef kind="variable" id="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" static="no" mutable="no">
+        <type>double</type>
+        <definition>double KalmanFull::ll</definition>
+        <argsstring></argsstring>
+        <name>ll</name>
+        <briefdescription>
+        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="42" bodyend="-1"/>
+      </memberdef>
+      </sectiondef>
+      <sectiondef kind="friend">
+      <memberdef kind="friend" id="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
+        <type>friend std::ostream &amp;</type>
+        <definition>std::ostream&amp; operator&lt;&lt;</definition>
+        <argsstring>(std::ostream &amp;os, const KalmanFull &amp;kf)</argsstring>
+        <name>operator&lt;&lt;</name>
+        <param>
+          <type>std::ostream &amp;</type>
+          <declname>os</declname>
+        </param>
+        <param>
+          <type>const <ref refid="classKalmanFull" kindref="compound">KalmanFull</ref> &amp;</type>
+          <declname>kf</declname>
+        </param>
+        <briefdescription>
+<para>print elements of KF </para>        </briefdescription>
+        <detaileddescription>
+        </detaileddescription>
+        <inbodydescription>
+        </inbodydescription>
+        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="49" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="56" bodyend="59"/>
+      </memberdef>
+      </sectiondef>
+    <briefdescription>
+<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> Filter in full matrices. </para>    </briefdescription>
+    <detaileddescription>
+<para>An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. </para>    </detaileddescription>
+    <inheritancegraph>
+      <node id="979">
+        <label>BM</label>
+        <link refid="classBM"/>
+      </node>
+      <node id="980">
+        <label>EKF_unQful</label>
+        <childnode refid="977" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="981">
+        <label>EKFful_unQR</label>
+        <link refid="classEKFful__unQR"/>
+        <childnode refid="977" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="977">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="978" relation="public-inheritance">
+        </childnode>
+        <childnode refid="979" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="978">
+        <label>KalmanFull</label>
+        <link refid="classKalmanFull"/>
+      </node>
+    </inheritancegraph>
+    <collaborationgraph>
+      <node id="993">
+        <label>enorm&lt; sq_T &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="989" relation="public-inheritance">
+        </childnode>
+        <childnode refid="994" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+      </node>
+      <node id="994">
+        <label>sq_T</label>
+      </node>
+      <node id="990">
+        <label>epdf</label>
+        <link refid="classepdf"/>
+        <childnode refid="985" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="984">
+        <label>BM</label>
+        <link refid="classBM"/>
+        <childnode refid="985" relation="usage">
+          <edgelabel>rv</edgelabel>
+        </childnode>
+      </node>
+      <node id="991">
+        <label>fsqmat</label>
+        <link refid="classfsqmat"/>
+        <childnode refid="992" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="988">
+        <label>enorm&lt; fsqmat &gt;</label>
+        <link refid="classenorm"/>
+        <childnode refid="989" relation="public-inheritance">
+        </childnode>
+        <childnode refid="991" relation="usage">
+          <edgelabel>R</edgelabel>
+        </childnode>
+        <childnode refid="993" relation="template-instance">
+          <edgelabel>&lt; fsqmat &gt;</edgelabel>
+        </childnode>
+      </node>
+      <node id="985">
+        <label>RV</label>
+        <link refid="classRV"/>
+      </node>
+      <node id="992">
+        <label>sqmat</label>
+        <link refid="classsqmat"/>
+      </node>
+      <node id="986">
+        <label>diffbifn</label>
+        <link refid="classdiffbifn"/>
+        <childnode refid="987" relation="public-inheritance">
+        </childnode>
+        <childnode refid="985" relation="usage">
+          <edgelabel>rvu
+rvx</edgelabel>
+        </childnode>
+      </node>
+      <node id="987">
+        <label>fnc</label>
+        <link refid="classfnc"/>
+      </node>
+      <node id="989">
+        <label>eEF</label>
+        <link refid="classeEF"/>
+        <childnode refid="990" relation="public-inheritance">
+        </childnode>
+      </node>
+      <node id="982">
+        <label>EKFfull</label>
+        <link refid="classEKFfull"/>
+        <childnode refid="983" relation="public-inheritance">
+        </childnode>
+        <childnode refid="984" relation="public-inheritance">
+        </childnode>
+        <childnode refid="986" relation="usage">
+          <edgelabel>pfxu
+phxu</edgelabel>
+        </childnode>
+        <childnode refid="988" relation="usage">
+          <edgelabel>E</edgelabel>
+        </childnode>
+      </node>
+      <node id="983">
+        <label>KalmanFull</label>
+        <link refid="classKalmanFull"/>
+      </node>
+    </collaborationgraph>
+    <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="170" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="170" bodyend="189"/>
+    <listofallmembers>
+      <member refid="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" virt="virtual"><scope>EKFfull</scope><name>_epdf</name></member>
+      <member refid="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>_iRy</name></member>
+      <member refid="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>_K</name></member>
+      <member refid="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>_ll</name></member>
+      <member refid="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>_Pp</name></member>
+      <member refid="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>_rv</name></member>
+      <member refid="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>_Ry</name></member>
+      <member refid="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>A</name></member>
+      <member refid="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>B</name></member>
+      <member refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>bayes</name></member>
+      <member refid="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" virt="non-virtual" ambiguityscope="BM::"><scope>EKFfull</scope><name>bayes</name></member>
+      <member refid="classBM_1605d28b426adb677c86a57ddb525132a" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>BM</name></member>
+      <member refid="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>C</name></member>
+      <member refid="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>D</name></member>
+      <member refid="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>dimu</name></member>
+      <member refid="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>dimx</name></member>
+      <member refid="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>dimy</name></member>
+      <member refid="classEKFfull_1e9d5297dc57205557ffcf675058bafc1" prot="private" virt="non-virtual"><scope>EKFfull</scope><name>E</name></member>
+      <member refid="classEKFfull_167ac4de96fd025197da767fe0472c7f7" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>EKFfull</name></member>
+      <member refid="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" virt="non-virtual" ambiguityscope="KalmanFull::"><scope>EKFfull</scope><name>evalll</name></member>
+      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKFfull</scope><name>evalll</name></member>
+      <member refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>KalmanFull</name></member>
+      <member refid="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" virt="non-virtual" ambiguityscope="KalmanFull::"><scope>EKFfull</scope><name>ll</name></member>
+      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKFfull</scope><name>ll</name></member>
+      <member refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>mu</name></member>
+      <member refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>operator&lt;&lt;</name></member>
+      <member refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>P</name></member>
+      <member refid="classEKFfull_15acf7c46b61432b25faf8abd0e7aed1a" prot="private" virt="non-virtual"><scope>EKFfull</scope><name>pfxu</name></member>
+      <member refid="classEKFfull_1e650a98cec5062d76ca3fd2711193df2" prot="private" virt="non-virtual"><scope>EKFfull</scope><name>phxu</name></member>
+      <member refid="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>Q</name></member>
+      <member refid="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>R</name></member>
+      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>EKFfull</scope><name>rv</name></member>
+      <member refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>set_est</name></member>
+      <member refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" virt="non-virtual"><scope>EKFfull</scope><name>set_parameters</name></member>
+      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKFfull</scope><name>~BM</name></member>
+    </listofallmembers>
+  </compounddef>
+</doxygen>
Index: /doc/html/classcompositepdf.html
===================================================================
--- /doc/html/classcompositepdf.html (revision 187)
+++ /doc/html/classcompositepdf.html (revision 187)
@@ -0,0 +1,121 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
+<title>mixpp: compositepdf Class Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+</head><body>
+<!-- Generated by Doxygen 1.5.6 -->
+<div class="navigation" id="top">
+  <div class="tabs">
+    <ul>
+      <li><a href="index.html"><span>Main&nbsp;Page</span></a></li>
+      <li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+    </ul>
+  </div>
+  <div class="tabs">
+    <ul>
+      <li><a href="annotated.html"><span>Class&nbsp;List</span></a></li>
+      <li><a href="hierarchy.html"><span>Class&nbsp;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&nbsp;Members</span></a></li>
+    </ul>
+  </div>
+</div>
+<div class="contents">
+<h1>compositepdf Class Reference</h1><!-- doxytag: class="compositepdf" -->Abstract composition of pdfs, a base for specific classes.  
+<a href="#_details">More...</a>
+<p>
+<code>#include &lt;<a class="el" href="libBM_8h-source.html">libBM.h</a>&gt;</code>
+<p>
+<div class="dynheader">
+Inheritance diagram for compositepdf:</div>
+<div class="dynsection">
+<p><center><img src="classcompositepdf__inherit__graph.png" border="0" usemap="#compositepdf__inherit__map" alt="Inheritance graph"></center>
+<map name="compositepdf__inherit__map">
+<area shape="rect" href="classmerger.html" title="Function for general combination of pdfs." alt="" coords="5,84,72,111"><area shape="rect" href="classmprod.html" title="Chain rule decomposition of epdf." alt="" coords="96,84,160,111"></map>
+<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
+
+<p>
+<a href="classcompositepdf-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
+<tr><td></td></tr>
+<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6ab00575b058fcf4d80090cb3c95351d"></a><!-- doxytag: member="compositepdf::compositepdf" ref="6ab00575b058fcf4d80090cb3c95351d" args="(Array&lt; mpdf * &gt; A0)" -->
+&nbsp;</td><td class="memItemRight" valign="bottom"><b>compositepdf</b> (Array&lt; <a class="el" href="classmpdf.html">mpdf</a> * &gt; A0)</td></tr>
+
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="classRV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#635d219fb3e32852400d6f98aa4bdc93">getrv</a> (bool checkoverlap=false)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">find common rv, flag  <a href="#635d219fb3e32852400d6f98aa4bdc93"></a><br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5a4479785c1fdb2cc351fbea07b899ac"></a><!-- doxytag: member="compositepdf::setrvc" ref="5a4479785c1fdb2cc351fbea07b899ac" args="(const RV &amp;rv, RV &amp;rvc)" -->
+void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#5a4479785c1fdb2cc351fbea07b899ac">setrvc</a> (const <a class="el" href="classRV.html">RV</a> &amp;rv, <a class="el" href="classRV.html">RV</a> &amp;rvc)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">common rvc of all mpdfs is written to rvc <br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="08958c8f76d65de94ecc37b8d90bc77a"></a><!-- doxytag: member="compositepdf::setindices" ref="08958c8f76d65de94ecc37b8d90bc77a" args="(const RV &amp;rv)" -->
+void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#08958c8f76d65de94ecc37b8d90bc77a">setindices</a> (const <a class="el" href="classRV.html">RV</a> &amp;rv)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">fill all rv*inrv* according to <br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3bd4ada95f381ea6c4cff2dc86e957c4"></a><!-- doxytag: member="compositepdf::setrvcinrv" ref="3bd4ada95f381ea6c4cff2dc86e957c4" args="(const RV &amp;rvc, Array&lt; ivec &gt; &amp;rvcind)" -->
+void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#3bd4ada95f381ea6c4cff2dc86e957c4">setrvcinrv</a> (const <a class="el" href="classRV.html">RV</a> &amp;rvc, Array&lt; ivec &gt; &amp;rvcind)</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Function fills Array by indeces of mpdfs inside given rv. <br></td></tr>
+<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c1646fe41ff5934d010e54ccaa46133f"></a><!-- doxytag: member="compositepdf::n" ref="c1646fe41ff5934d010e54ccaa46133f" args="" -->
+int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#c1646fe41ff5934d010e54ccaa46133f">n</a></td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Number of mpdfs in the composite. <br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="637877061b917a16a0421bb5c4cd480d"></a><!-- doxytag: member="compositepdf::mpdfs" ref="637877061b917a16a0421bb5c4cd480d" args="" -->
+Array&lt; <a class="el" href="classmpdf.html">mpdf</a> * &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#637877061b917a16a0421bb5c4cd480d">mpdfs</a></td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Elements of composition. <br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4d4a8269f9faefeca8cdc251a5a29a7f"></a><!-- doxytag: member="compositepdf::rvsinrv" ref="4d4a8269f9faefeca8cdc251a5a29a7f" args="" -->
+Array&lt; ivec &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#4d4a8269f9faefeca8cdc251a5a29a7f">rvsinrv</a></td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indeces of rvs in common rv. <br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3df07bb5e3ed36a3119b145043296676"></a><!-- doxytag: member="compositepdf::rvcsinrv" ref="3df07bb5e3ed36a3119b145043296676" args="" -->
+Array&lt; ivec &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#3df07bb5e3ed36a3119b145043296676">rvcsinrv</a></td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indeces of rvc in common rv. <br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="de3bd289a26d5549dcf1ed19e5b13569"></a><!-- doxytag: member="compositepdf::rvinrvcs" ref="de3bd289a26d5549dcf1ed19e5b13569" args="" -->
+Array&lt; ivec &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcompositepdf.html#de3bd289a26d5549dcf1ed19e5b13569">rvinrvcs</a></td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indeces of common rv in rvc. <br></td></tr>
+</table>
+<hr><a name="_details"></a><h2>Detailed Description</h2>
+Abstract composition of pdfs, a base for specific classes. <hr><h2>Member Function Documentation</h2>
+<a class="anchor" name="635d219fb3e32852400d6f98aa4bdc93"></a><!-- doxytag: member="compositepdf::getrv" ref="635d219fb3e32852400d6f98aa4bdc93" args="(bool checkoverlap=false)" -->
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classRV.html">RV</a> compositepdf::getrv           </td>
+          <td>(</td>
+          <td class="paramtype">bool&nbsp;</td>
+          <td class="paramname"> <em>checkoverlap</em> = <code>false</code>          </td>
+          <td>&nbsp;)&nbsp;</td>
+          <td></td>
+        </tr>
+      </table>
+</div>
+<div class="memdoc">
+
+<p>
+find common rv, flag 
+<p>
+<dl compact><dt><b>Parameters:</b></dt><dd>
+  <table border="0" cellspacing="2" cellpadding="0">
+    <tr><td valign="top"></td><td valign="top"><em>checkoverlap</em>&nbsp;</td><td>modifies whether overlaps are acceptable </td></tr>
+  </table>
+</dl>
+
+<p>References <a class="el" href="libBM_8cpp-source.html#l00051">RV::add()</a>, <a class="el" href="libBM_8h-source.html#l00258">mpdfs</a>, and <a class="el" href="libBM_8h-source.html#l00256">n</a>.</p>
+
+</div>
+</div><p>
+<hr>The documentation for this class was generated from the following files:<ul>
+<li>work/git/mixpp/bdm/stat/<a class="el" href="libBM_8h-source.html">libBM.h</a><li>work/git/mixpp/bdm/stat/libBM.cpp</ul>
+</div>
+<hr size="1"><address style="text-align: right;"><small>Generated on Wed Oct 15 15:57:12 2008 for mixpp by&nbsp;
+<a href="http://www.doxygen.org/index.html">
+<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
+</body>
+</html>
Index: /doc/html/classcompositepdf-members.html
===================================================================
--- /doc/html/classcompositepdf-members.html (revision 187)
+++ /doc/html/classcompositepdf-members.html (revision 187)
@@ -0,0 +1,42 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
+<title>mixpp: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+</head><body>
+<!-- Generated by Doxygen 1.5.6 -->
+<div class="navigation" id="top">
+  <div class="tabs">
+    <ul>
+      <li><a href="index.html"><span>Main&nbsp;Page</span></a></li>
+      <li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+    </ul>
+  </div>
+  <div class="tabs">
+    <ul>
+      <li><a href="annotated.html"><span>Class&nbsp;List</span></a></li>
+      <li><a href="hierarchy.html"><span>Class&nbsp;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&nbsp;Members</span></a></li>
+    </ul>
+  </div>
+</div>
+<div class="contents">
+<h1>compositepdf Member List</h1>This is the complete list of members for <a class="el" href="classcompositepdf.html">compositepdf</a>, including all inherited members.<p><table>
+  <tr bgcolor="#f0f0f0"><td><b>compositepdf</b>(Array&lt; mpdf * &gt; A0) (defined in <a class="el" href="classcompositepdf.html">compositepdf</a>)</td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td><code> [inline]</code></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#635d219fb3e32852400d6f98aa4bdc93">getrv</a>(bool checkoverlap=false)</td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#637877061b917a16a0421bb5c4cd480d">mpdfs</a></td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td><code> [protected]</code></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#c1646fe41ff5934d010e54ccaa46133f">n</a></td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td><code> [protected]</code></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#3df07bb5e3ed36a3119b145043296676">rvcsinrv</a></td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td><code> [protected]</code></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#de3bd289a26d5549dcf1ed19e5b13569">rvinrvcs</a></td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td><code> [protected]</code></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#4d4a8269f9faefeca8cdc251a5a29a7f">rvsinrv</a></td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td><code> [protected]</code></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#08958c8f76d65de94ecc37b8d90bc77a">setindices</a>(const RV &amp;rv)</td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#5a4479785c1fdb2cc351fbea07b899ac">setrvc</a>(const RV &amp;rv, RV &amp;rvc)</td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td></td></tr>
+  <tr class="memlist"><td><a class="el" href="classcompositepdf.html#3bd4ada95f381ea6c4cff2dc86e957c4">setrvcinrv</a>(const RV &amp;rvc, Array&lt; ivec &gt; &amp;rvcind)</td><td><a class="el" href="classcompositepdf.html">compositepdf</a></td><td></td></tr>
+</table></div>
+<hr size="1"><address style="text-align: right;"><small>Generated on Wed Oct 15 15:57:12 2008 for mixpp by&nbsp;
+<a href="http://www.doxygen.org/index.html">
+<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
+</body>
+</html>
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Index: /doc/latex/mixef_8h__dep__incl.md5
===================================================================
--- /doc/latex/mixef_8h__dep__incl.md5 (revision 187)
+++ /doc/latex/mixef_8h__dep__incl.md5 (revision 187)
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+3ded0c9e0b72e6e2233019639af1a6c5
Index: /doc/latex/classcompositepdf.tex
===================================================================
--- /doc/latex/classcompositepdf.tex (revision 187)
+++ /doc/latex/classcompositepdf.tex (revision 187)
@@ -0,0 +1,97 @@
+\hypertarget{classcompositepdf}{
+\section{compositepdf Class Reference}
+\label{classcompositepdf}\index{compositepdf@{compositepdf}}
+}
+Abstract composition of pdfs, a base for specific classes.  
+
+
+{\tt \#include $<$libBM.h$>$}
+
+Inheritance diagram for compositepdf:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=80pt]{classcompositepdf__inherit__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{CompactItemize}
+\item 
+\hypertarget{classcompositepdf_6ab00575b058fcf4d80090cb3c95351d}{
+\textbf{compositepdf} (Array$<$ \hyperlink{classmpdf}{mpdf} $\ast$ $>$ A0)}
+\label{classcompositepdf_6ab00575b058fcf4d80090cb3c95351d}
+
+\item 
+\hyperlink{classRV}{RV} \hyperlink{classcompositepdf_635d219fb3e32852400d6f98aa4bdc93}{getrv} (bool checkoverlap=false)
+\begin{CompactList}\small\item\em find common rv, flag \item\end{CompactList}\item 
+\hypertarget{classcompositepdf_5a4479785c1fdb2cc351fbea07b899ac}{
+void \hyperlink{classcompositepdf_5a4479785c1fdb2cc351fbea07b899ac}{setrvc} (const \hyperlink{classRV}{RV} \&rv, \hyperlink{classRV}{RV} \&rvc)}
+\label{classcompositepdf_5a4479785c1fdb2cc351fbea07b899ac}
+
+\begin{CompactList}\small\item\em common rvc of all mpdfs is written to rvc \item\end{CompactList}\item 
+\hypertarget{classcompositepdf_08958c8f76d65de94ecc37b8d90bc77a}{
+void \hyperlink{classcompositepdf_08958c8f76d65de94ecc37b8d90bc77a}{setindices} (const \hyperlink{classRV}{RV} \&rv)}
+\label{classcompositepdf_08958c8f76d65de94ecc37b8d90bc77a}
+
+\begin{CompactList}\small\item\em fill all rv$\ast$inrv$\ast$ according to \item\end{CompactList}\item 
+\hypertarget{classcompositepdf_3bd4ada95f381ea6c4cff2dc86e957c4}{
+void \hyperlink{classcompositepdf_3bd4ada95f381ea6c4cff2dc86e957c4}{setrvcinrv} (const \hyperlink{classRV}{RV} \&rvc, Array$<$ ivec $>$ \&rvcind)}
+\label{classcompositepdf_3bd4ada95f381ea6c4cff2dc86e957c4}
+
+\begin{CompactList}\small\item\em Function fills Array by indeces of mpdfs inside given rv. \item\end{CompactList}\end{CompactItemize}
+\subsection*{Protected Attributes}
+\begin{CompactItemize}
+\item 
+\hypertarget{classcompositepdf_c1646fe41ff5934d010e54ccaa46133f}{
+int \hyperlink{classcompositepdf_c1646fe41ff5934d010e54ccaa46133f}{n}}
+\label{classcompositepdf_c1646fe41ff5934d010e54ccaa46133f}
+
+\begin{CompactList}\small\item\em Number of mpdfs in the composite. \item\end{CompactList}\item 
+\hypertarget{classcompositepdf_637877061b917a16a0421bb5c4cd480d}{
+Array$<$ \hyperlink{classmpdf}{mpdf} $\ast$ $>$ \hyperlink{classcompositepdf_637877061b917a16a0421bb5c4cd480d}{mpdfs}}
+\label{classcompositepdf_637877061b917a16a0421bb5c4cd480d}
+
+\begin{CompactList}\small\item\em Elements of composition. \item\end{CompactList}\item 
+\hypertarget{classcompositepdf_4d4a8269f9faefeca8cdc251a5a29a7f}{
+Array$<$ ivec $>$ \hyperlink{classcompositepdf_4d4a8269f9faefeca8cdc251a5a29a7f}{rvsinrv}}
+\label{classcompositepdf_4d4a8269f9faefeca8cdc251a5a29a7f}
+
+\begin{CompactList}\small\item\em Indeces of rvs in common rv. \item\end{CompactList}\item 
+\hypertarget{classcompositepdf_3df07bb5e3ed36a3119b145043296676}{
+Array$<$ ivec $>$ \hyperlink{classcompositepdf_3df07bb5e3ed36a3119b145043296676}{rvcsinrv}}
+\label{classcompositepdf_3df07bb5e3ed36a3119b145043296676}
+
+\begin{CompactList}\small\item\em Indeces of rvc in common rv. \item\end{CompactList}\item 
+\hypertarget{classcompositepdf_de3bd289a26d5549dcf1ed19e5b13569}{
+Array$<$ ivec $>$ \hyperlink{classcompositepdf_de3bd289a26d5549dcf1ed19e5b13569}{rvinrvcs}}
+\label{classcompositepdf_de3bd289a26d5549dcf1ed19e5b13569}
+
+\begin{CompactList}\small\item\em Indeces of common rv in rvc. \item\end{CompactList}\end{CompactItemize}
+
+
+\subsection{Detailed Description}
+Abstract composition of pdfs, a base for specific classes. 
+
+\subsection{Member Function Documentation}
+\hypertarget{classcompositepdf_635d219fb3e32852400d6f98aa4bdc93}{
+\index{compositepdf@{compositepdf}!getrv@{getrv}}
+\index{getrv@{getrv}!compositepdf@{compositepdf}}
+\subsubsection[getrv]{\setlength{\rightskip}{0pt plus 5cm}{\bf RV} compositepdf::getrv (bool {\em checkoverlap} = {\tt false})}}
+\label{classcompositepdf_635d219fb3e32852400d6f98aa4bdc93}
+
+
+find common rv, flag 
+
+\begin{Desc}
+\item[Parameters:]
+\begin{description}
+\item[{\em checkoverlap}]modifies whether overlaps are acceptable \end{description}
+\end{Desc}
+
+
+References RV::add(), mpdfs, and n.
+
+The documentation for this class was generated from the following files:\begin{CompactItemize}
+\item 
+work/git/mixpp/bdm/stat/\hyperlink{libBM_8h}{libBM.h}\item 
+work/git/mixpp/bdm/stat/libBM.cpp\end{CompactItemize}
Index: /doc/latex/mixef_8h__dep__incl.pdf
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