Index: doc/latex/classIMpmsm2o.tex
===================================================================
--- doc/latex/classIMpmsm2o.tex (revision 234)
+++ doc/latex/classIMpmsm2o.tex (revision 255)
@@ -12,5 +12,5 @@
 \begin{center}
 \leavevmode
-\includegraphics[width=56pt]{classIMpmsm2o__inherit__graph}
+\includegraphics[width=59pt]{classIMpmsm2o__inherit__graph}
 \end{center}
 \end{figure}
@@ -19,5 +19,5 @@
 \begin{center}
 \leavevmode
-\includegraphics[width=60pt]{classIMpmsm2o__coll__graph}
+\includegraphics[width=88pt]{classIMpmsm2o__coll__graph}
 \end{center}
 \end{figure}
@@ -35,31 +35,36 @@
 
 \begin{CompactList}\small\item\em Evaluates $f(x0,u0)$. \item\end{CompactList}\item 
+\hypertarget{classIMpmsm2o_cf66e75d9e532b0a1c2135b34ac57c89}{
+vec \hyperlink{classIMpmsm2o_cf66e75d9e532b0a1c2135b34ac57c89}{eval2o} (const vec \&du)}
+\label{classIMpmsm2o_cf66e75d9e532b0a1c2135b34ac57c89}
+
+\begin{CompactList}\small\item\em eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER \hyperlink{classIMpmsm2o_86e04b5118e567ea7a2540059f553f41}{eval()}!! \item\end{CompactList}\item 
 void \hyperlink{classIMpmsm2o_0a3e125df1e53821e08accbd4960d713}{dfdx\_\-cond} (const vec \&x0, const vec \&u0, mat \&A, bool full=true)
 \begin{CompactList}\small\item\em Evaluates $A=\frac{d}{dx}f(x,u)|_{x0,u0}$ and writes result into {\tt A} . \item\end{CompactList}\item 
 void \hyperlink{classIMpmsm2o_27f9d89bce832056f747d985df77a726}{dfdu\_\-cond} (const vec \&x0, const vec \&u0, mat \&A, bool full=true)
 \begin{CompactList}\small\item\em Evaluates $A=\frac{d}{du}f(x,u)|_{x0,u0}$ and writes result into {\tt A} . \item\end{CompactList}\item 
-\hypertarget{classdiffbifn_ad7673e16aa1a046b131b24c731c4632}{
-vec \hyperlink{classdiffbifn_ad7673e16aa1a046b131b24c731c4632}{eval} (const vec \&cond)}
-\label{classdiffbifn_ad7673e16aa1a046b131b24c731c4632}
+\hypertarget{classbdm_1_1diffbifn_188f31066bd72e1bf0ddacd1eb0e6af3}{
+vec \hyperlink{classbdm_1_1diffbifn_188f31066bd72e1bf0ddacd1eb0e6af3}{eval} (const vec \&cond)}
+\label{classbdm_1_1diffbifn_188f31066bd72e1bf0ddacd1eb0e6af3}
 
 \begin{CompactList}\small\item\em Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ). \item\end{CompactList}\item 
-\hypertarget{classdiffbifn_436de7a7301ea9eac7d6081b893bbf57}{
-int \hyperlink{classdiffbifn_436de7a7301ea9eac7d6081b893bbf57}{\_\-dimx} () const }
-\label{classdiffbifn_436de7a7301ea9eac7d6081b893bbf57}
+\hypertarget{classbdm_1_1diffbifn_1b3c8f5949f13d86d2661e191d4b369b}{
+int \hyperlink{classbdm_1_1diffbifn_1b3c8f5949f13d86d2661e191d4b369b}{\_\-dimx} () const }
+\label{classbdm_1_1diffbifn_1b3c8f5949f13d86d2661e191d4b369b}
 
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
-\hypertarget{classdiffbifn_fc8779acbff170611aff0ee70cee3879}{
-int \hyperlink{classdiffbifn_fc8779acbff170611aff0ee70cee3879}{\_\-dimu} () const }
-\label{classdiffbifn_fc8779acbff170611aff0ee70cee3879}
+\hypertarget{classbdm_1_1diffbifn_031458f38c97cdb3aecde16f6a06dced}{
+int \hyperlink{classbdm_1_1diffbifn_031458f38c97cdb3aecde16f6a06dced}{\_\-dimu} () const }
+\label{classbdm_1_1diffbifn_031458f38c97cdb3aecde16f6a06dced}
 
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
-\hypertarget{classfnc_d28babf615a7240c34ee57779250f602}{
-virtual void \hyperlink{classfnc_d28babf615a7240c34ee57779250f602}{condition} (const vec \&val)}
-\label{classfnc_d28babf615a7240c34ee57779250f602}
+\hypertarget{classbdm_1_1fnc_0786e40fade2663a70d654c1dda5d73e}{
+virtual void \hyperlink{classbdm_1_1fnc_0786e40fade2663a70d654c1dda5d73e}{condition} (const vec \&val)}
+\label{classbdm_1_1fnc_0786e40fade2663a70d654c1dda5d73e}
 
 \begin{CompactList}\small\item\em function substitutes given value into an appropriate position \item\end{CompactList}\item 
-\hypertarget{classfnc_a8891973d0ca48ce38e1886df45ca298}{
-int \hyperlink{classfnc_a8891973d0ca48ce38e1886df45ca298}{\_\-dimy} () const }
-\label{classfnc_a8891973d0ca48ce38e1886df45ca298}
+\hypertarget{classbdm_1_1fnc_a2277a400fc9f4d6c0bf24dc7156183f}{
+int \hyperlink{classbdm_1_1fnc_a2277a400fc9f4d6c0bf24dc7156183f}{\_\-dimy} () const }
+\label{classbdm_1_1fnc_a2277a400fc9f4d6c0bf24dc7156183f}
 
 \begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
@@ -107,27 +112,92 @@
 
 \item 
-\hypertarget{classdiffbifn_bcf96b86250c3cbd465ba5ee62474b75}{
-\hyperlink{classRV}{RV} \hyperlink{classdiffbifn_bcf96b86250c3cbd465ba5ee62474b75}{rvx}}
-\label{classdiffbifn_bcf96b86250c3cbd465ba5ee62474b75}
+\hypertarget{classIMpmsm2o_5b668744a1e5189f324897a62b9c3ea6}{
+double \hyperlink{classIMpmsm2o_5b668744a1e5189f324897a62b9c3ea6}{dia}}
+\label{classIMpmsm2o_5b668744a1e5189f324897a62b9c3ea6}
+
+\begin{CompactList}\small\item\em store first derivatives for the use in second derivatives \item\end{CompactList}\item 
+\hypertarget{classIMpmsm2o_48e7403b2c5a93d2af64d618df39b7ac}{
+double \textbf{dib}}
+\label{classIMpmsm2o_48e7403b2c5a93d2af64d618df39b7ac}
+
+\item 
+\hypertarget{classIMpmsm2o_46e40d43c0872e8a1fe33d85b2c44a0f}{
+double \textbf{dom}}
+\label{classIMpmsm2o_46e40d43c0872e8a1fe33d85b2c44a0f}
+
+\item 
+\hypertarget{classIMpmsm2o_b2164f89815f3194027fdd562246f238}{
+double \textbf{dth}}
+\label{classIMpmsm2o_b2164f89815f3194027fdd562246f238}
+
+\item 
+\hypertarget{classIMpmsm2o_74954dedce055db9ee50d53790e8341c}{
+double \hyperlink{classIMpmsm2o_74954dedce055db9ee50d53790e8341c}{d2t}}
+\label{classIMpmsm2o_74954dedce055db9ee50d53790e8341c}
+
+\begin{CompactList}\small\item\em d2t = dt$^\wedge$2/2, cth = cos(th), sth=sin(th) \item\end{CompactList}\item 
+\hypertarget{classIMpmsm2o_b013ef9a7017357ccaebf5c023d5ec0f}{
+double \textbf{cth}}
+\label{classIMpmsm2o_b013ef9a7017357ccaebf5c023d5ec0f}
+
+\item 
+\hypertarget{classIMpmsm2o_a246a4f23d0de166041919fed2bd2bf3}{
+double \textbf{sth}}
+\label{classIMpmsm2o_a246a4f23d0de166041919fed2bd2bf3}
+
+\item 
+\hypertarget{classIMpmsm2o_c7a8e9d8815971fd1bf38770ebd2067a}{
+double \textbf{iam}}
+\label{classIMpmsm2o_c7a8e9d8815971fd1bf38770ebd2067a}
+
+\item 
+\hypertarget{classIMpmsm2o_3efbccc942d804ef69270d77c14b7abc}{
+double \textbf{ibm}}
+\label{classIMpmsm2o_3efbccc942d804ef69270d77c14b7abc}
+
+\item 
+\hypertarget{classIMpmsm2o_559e00fa27deb6e2ffca76b889a8a24e}{
+double \textbf{omm}}
+\label{classIMpmsm2o_559e00fa27deb6e2ffca76b889a8a24e}
+
+\item 
+\hypertarget{classIMpmsm2o_49764a5de43ce718cebcaa045a0b40f6}{
+double \textbf{thm}}
+\label{classIMpmsm2o_49764a5de43ce718cebcaa045a0b40f6}
+
+\item 
+\hypertarget{classIMpmsm2o_61b88b671c492021476d7db49b29d0cd}{
+double \textbf{uam}}
+\label{classIMpmsm2o_61b88b671c492021476d7db49b29d0cd}
+
+\item 
+\hypertarget{classIMpmsm2o_3309f761c288a3fc149fae787cad252c}{
+double \textbf{ubm}}
+\label{classIMpmsm2o_3309f761c288a3fc149fae787cad252c}
+
+\item 
+\hypertarget{classbdm_1_1diffbifn_5f56547d8e9378b669d3cc19d7831cbb}{
+RV \hyperlink{classbdm_1_1diffbifn_5f56547d8e9378b669d3cc19d7831cbb}{rvx}}
+\label{classbdm_1_1diffbifn_5f56547d8e9378b669d3cc19d7831cbb}
 
 \begin{CompactList}\small\item\em Indentifier of the first rv. \item\end{CompactList}\item 
-\hypertarget{classdiffbifn_c41c74c7942dba51ef0b0bfed963447d}{
-\hyperlink{classRV}{RV} \hyperlink{classdiffbifn_c41c74c7942dba51ef0b0bfed963447d}{rvu}}
-\label{classdiffbifn_c41c74c7942dba51ef0b0bfed963447d}
+\hypertarget{classbdm_1_1diffbifn_a8e3e861d5ec2a7ae9524e6338e58320}{
+RV \hyperlink{classbdm_1_1diffbifn_a8e3e861d5ec2a7ae9524e6338e58320}{rvu}}
+\label{classbdm_1_1diffbifn_a8e3e861d5ec2a7ae9524e6338e58320}
 
 \begin{CompactList}\small\item\em Indentifier of the second rv. \item\end{CompactList}\item 
-\hypertarget{classdiffbifn_f6918bc0a9dad656b4cddc028137eb78}{
-int \hyperlink{classdiffbifn_f6918bc0a9dad656b4cddc028137eb78}{dimx}}
-\label{classdiffbifn_f6918bc0a9dad656b4cddc028137eb78}
+\hypertarget{classbdm_1_1diffbifn_a193aa2c4a500139c0c4b669691e588e}{
+int \hyperlink{classbdm_1_1diffbifn_a193aa2c4a500139c0c4b669691e588e}{dimx}}
+\label{classbdm_1_1diffbifn_a193aa2c4a500139c0c4b669691e588e}
 
 \begin{CompactList}\small\item\em cache for rvx.count() \item\end{CompactList}\item 
-\hypertarget{classdiffbifn_2e07ce491e973f03d763e37624d0fe79}{
-int \hyperlink{classdiffbifn_2e07ce491e973f03d763e37624d0fe79}{dimu}}
-\label{classdiffbifn_2e07ce491e973f03d763e37624d0fe79}
+\hypertarget{classbdm_1_1diffbifn_30c45617eec89adeb4ebaa763d093fb0}{
+int \hyperlink{classbdm_1_1diffbifn_30c45617eec89adeb4ebaa763d093fb0}{dimu}}
+\label{classbdm_1_1diffbifn_30c45617eec89adeb4ebaa763d093fb0}
 
 \begin{CompactList}\small\item\em cache for rvu.count() \item\end{CompactList}\item 
-\hypertarget{classfnc_22d51d10a7901331167f64f80d1af8e9}{
-int \hyperlink{classfnc_22d51d10a7901331167f64f80d1af8e9}{dimy}}
-\label{classfnc_22d51d10a7901331167f64f80d1af8e9}
+\hypertarget{classbdm_1_1fnc_52156cb4a52a62d51fc7455985797a62}{
+int \hyperlink{classbdm_1_1fnc_52156cb4a52a62d51fc7455985797a62}{dimy}}
+\label{classbdm_1_1fnc_52156cb4a52a62d51fc7455985797a62}
 
 \begin{CompactList}\small\item\em Length of the output vector. \item\end{CompactList}\end{CompactItemize}
@@ -154,5 +224,5 @@
 
 
-Reimplemented from \hyperlink{classdiffbifn_6d217a02d4fa13931258d4bebdd0feb4}{diffbifn}.\hypertarget{classIMpmsm2o_27f9d89bce832056f747d985df77a726}{
+Reimplemented from \hyperlink{classbdm_1_1diffbifn_651184f808a35f236dbfea21aca1b6ac}{bdm::diffbifn}.\hypertarget{classIMpmsm2o_27f9d89bce832056f747d985df77a726}{
 \index{IMpmsm2o@{IMpmsm2o}!dfdu\_\-cond@{dfdu\_\-cond}}
 \index{dfdu\_\-cond@{dfdu\_\-cond}!IMpmsm2o@{IMpmsm2o}}
@@ -170,5 +240,5 @@
 
 
-Reimplemented from \hyperlink{classdiffbifn_1978bafd7909d15c139a08c495c24aa0}{diffbifn}.
+Reimplemented from \hyperlink{classbdm_1_1diffbifn_6ea1dc7a482601b29c5ba36a52d20d07}{bdm::diffbifn}.
 
 The documentation for this class was generated from the following file:\begin{CompactItemize}
