Index: doc/html/tree.html
===================================================================
--- doc/html/tree.html (revision 312)
+++ doc/html/tree.html (revision 323)
@@ -82,8 +82,9 @@
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="tut_arx.html" target="basefrm">Theory of ARX model estimation</a></p>
         </div>
+        <p><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="todo.html" target="basefrm">Todo List</a></p>
         <p><img src="ftv2pnode.png" alt="o" width=16 height=22 onclick="toggleFolder('folder36', this)"/><img src="ftv2folderclosed.png" alt="+" width=24 height=22 onclick="toggleFolder('folder36', this)"/><a class="el" href="modules.html" target="basefrm">Modules</a></p>
         <div id="folder36">
-          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="group__math.html" target="basefrm">Auxiliary math functions</a></p>
-          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="group__PMSM.html" target="basefrm">PMSM</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="group__PMSM.html" target="basefrm">PMSM</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="group__math.html" target="basefrm">Auxiliary math functions</a></p>
         </div>
         <p><img src="ftv2pnode.png" alt="o" width=16 height=22 onclick="toggleFolder('folder37', this)"/><img src="ftv2folderclosed.png" alt="+" width=24 height=22 onclick="toggleFolder('folder37', this)"/><a class="el" href="annotated.html" target="basefrm">Class List</a></p>
@@ -133,4 +134,5 @@
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classfsqmat.html" target="basefrm">fsqmat</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classitpp_1_1Gamma__RNG.html" target="basefrm">itpp::Gamma_RNG</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classIMk1.html" target="basefrm">IMk1</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classIMpmsm.html" target="basefrm">IMpmsm</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classIMpmsm2o.html" target="basefrm">IMpmsm2o</a></p>
@@ -165,6 +167,8 @@
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classbdm_1_1mratio.html" target="basefrm">bdm::mratio</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classbdm_1_1multiBM.html" target="basefrm">bdm::multiBM</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classOMk1.html" target="basefrm">OMk1</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classOMpmsm.html" target="basefrm">OMpmsm</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classbdm_1_1PF.html" target="basefrm">bdm::PF</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classpmsmCRB.html" target="basefrm">pmsmCRB</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classpmsmDS.html" target="basefrm">pmsmDS</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classbdm_1_1RV.html" target="basefrm">bdm::RV</a></p>
@@ -177,4 +181,5 @@
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classbdm_1_1UIexternal.html" target="basefrm">bdm::UIexternal</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classbdm_1_1UIinternal.html" target="basefrm">bdm::UIinternal</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classUImexDS.html" target="basefrm">UImexDS</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classUImgnorm.html" target="basefrm">UImgnorm</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classUImigamma__ref.html" target="basefrm">UImigamma_ref</a></p>
@@ -221,5 +226,6 @@
                     <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classEKF__unQ.html" target="basefrm">EKF_unQ</a></p>
                     <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classEKFCh__cond.html" target="basefrm">EKFCh_cond</a></p>
-                    <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classEKFCh__du__kQ.html" target="basefrm">EKFCh_du_kQ</a></p>
+                    <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classEKFCh__du__kQ.html" target="basefrm">EKFCh_du_kQ</a></p>
+                    <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2blank.png" alt="&nbsp;" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classpmsmCRB.html" target="basefrm">pmsmCRB</a></p>
                   </div>
                 </div>
@@ -279,9 +285,11 @@
               <div id="folder57">
                 <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classbdm_1_1bilinfn.html" target="basefrm">bdm::bilinfn</a></p>
+                <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classIMk1.html" target="basefrm">IMk1</a></p>
                 <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2pnode.png" alt="o" width=16 height=22 onclick="toggleFolder('folder58', this)"/><img src="ftv2folderclosed.png" alt="+" width=24 height=22 onclick="toggleFolder('folder58', this)"/><a class="el" href="classIMpmsm.html" target="basefrm">IMpmsm</a></p>
                 <div id="folder58">
+                  <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classIMpmsm2o.html" target="basefrm">IMpmsm2o</a></p>
                   <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classIMpmsmStat.html" target="basefrm">IMpmsmStat</a></p>
                 </div>
-                <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classIMpmsm2o.html" target="basefrm">IMpmsm2o</a></p>
+                <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classOMk1.html" target="basefrm">OMk1</a></p>
                 <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classOMpmsm.html" target="basefrm">OMpmsm</a></p>
               </div>
@@ -361,4 +369,5 @@
             <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classUIstateDS.html" target="basefrm">UIstateDS</a></p>
           </div>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classUImexDS.html" target="basefrm">UImexDS</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2lastnode.png" alt="\" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="classUIMPF.html" target="basefrm">UIMPF</a></p>
         </div>
@@ -378,4 +387,5 @@
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><b>fixed.h</b></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><b>itpp_ext.h</b></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="k1_8cpp.html" target="basefrm">k1.cpp</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="KF__ui_8h.html" target="basefrm">KF_ui.h</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="libBM_8h.html" target="basefrm">libBM.h</a></p>
@@ -393,6 +403,8 @@
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="merg__2a_8cpp.html" target="basefrm">merg_2a.cpp</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="merger_8h.html" target="basefrm">merger.h</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><b>mexds.h</b></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><b>mexlog.h</b></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="mixef_8h.html" target="basefrm">mixef.h</a></p>
+          <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><b>model.h</b></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="mpf__load_8cpp.html" target="basefrm">mpf_load.cpp</a></p>
           <p><img src="ftv2vertline.png" alt="|" width=16 height=22 /><img src="ftv2node.png" alt="o" width=16 height=22 /><img src="ftv2doc.png" alt="*" width=24 height=22 /><a class="el" href="mpf__u__delta_8cpp.html" target="basefrm">mpf_u_delta.cpp</a></p>
