Index: doc/html/inherit__graph__1.dot
===================================================================
--- doc/html/inherit__graph__1.dot (revision 323)
+++ doc/html/inherit__graph__1.dot (revision 353)
@@ -19,89 +19,89 @@
   Node7 -> Node8 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node8 [label="bdm::EKFful_unQR",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFful__unQR.html",tooltip="Extended Kalman filter with unknown Q and R."];
-  Node2 -> Node9 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node9 [label="bdm::Kalman\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html",tooltip="Kalman filter with covariance matrices in square root form."];
-  Node2 -> Node10 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node10 [label="bdm::PF",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1PF.html",tooltip="Trivial particle filter with proposal density equal to parameter evolution model..."];
-  Node10 -> Node11 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node11 [label="bdm::MPF\< BM_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1MPF.html",tooltip="Marginalized Particle filter."];
+  Node7 -> Node9 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node9 [label="pmsmCRB",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classpmsmCRB.html",tooltip="This class behaves like BM but it is evaluating EKF."];
+  Node7 -> Node10 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node10 [label="pmsmCRBMz",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classpmsmCRBMz.html",tooltip="This class behaves like BM but it is evaluating EKF."];
+  Node2 -> Node11 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node11 [label="bdm::Kalman\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html",tooltip="Kalman filter with covariance matrices in square root form."];
   Node2 -> Node12 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node12 [label="EKFfixed",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classEKFfixed.html",tooltip="Extended Kalman Filter with full matrices in fixed point arithmetic."];
+  Node12 [label="bdm::MultiModel",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1MultiModel.html",tooltip="(Switching) Multiple Model The model runs several models in parallel and evaluates..."];
   Node2 -> Node13 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node13 [label="bdm::Kalman\< chmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html"];
+  Node13 [label="bdm::PF",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1PF.html",tooltip="Trivial particle filter with proposal density equal to parameter evolution model..."];
   Node13 -> Node14 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node14 [label="bdm::KalmanCh",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KalmanCh.html",tooltip="Kalman filter in square root form."];
-  Node14 -> Node15 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node15 [label="bdm::EKFCh",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh.html",tooltip="Extended Kalman Filter in Square root."];
-  Node15 -> Node16 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node16 [label="bdm::EKFCh_chQ",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh__chQ.html",tooltip="Extended Kalman filter in Choleski form with unknown Q."];
-  Node15 -> Node17 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node17 [label="bdm::EKFCh_cond",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh__cond.html",tooltip="Extended Kalman filter with unknown parameters in IM."];
-  Node15 -> Node18 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node18 [label="bdm::EKFCh_dQ",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh__dQ.html",tooltip="Extended Kalman filter in Choleski form with unknown diagonal Q."];
-  Node15 -> Node19 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node19 [label="EKF_unQ",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classEKF__unQ.html",tooltip="Extended Kalman filter with unknown Q."];
-  Node15 -> Node20 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node20 [label="EKFCh_cond",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classEKFCh__cond.html",tooltip="Extended Kalman filter with unknown Q."];
-  Node15 -> Node21 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node21 [label="EKFCh_du_kQ",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classEKFCh__du__kQ.html",tooltip="Extended Kalman filter with unknown Q and delta u."];
-  Node15 -> Node22 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node22 [label="pmsmCRB",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classpmsmCRB.html",tooltip="This class behaves like BM but it is evaluating EKF."];
-  Node2 -> Node23 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node23 [label="bdm::Kalman\< fsqmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html"];
-  Node23 -> Node24 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node24 [label="bdm::EKF\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKF.html",tooltip="Extended Kalman Filter."];
-  Node2 -> Node25 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node25 [label="bdm::Kalman\< ldmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html"];
-  Node25 -> Node26 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node26 [label="bdm::KFcondQR",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KFcondQR.html",tooltip="Kalman Filter with conditional diagonal matrices R and Q."];
-  Node25 -> Node27 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node27 [label="bdm::KFcondR",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KFcondR.html",tooltip="Kalman Filter with conditional diagonal matrices R and Q."];
-  Node1 -> Node28 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node28 [label="bdm::DS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1DS.html",tooltip="Abstract class for discrete-time sources of data."];
-  Node28 -> Node29 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node29 [label="bdm::ArxDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1ArxDS.html",tooltip="Generator of ARX data."];
-  Node28 -> Node30 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node30 [label="bdm::MemDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1MemDS.html",tooltip="Memory storage of off-line data column-wise."];
+  Node14 [label="bdm::MPF\< BM_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1MPF.html",tooltip="Marginalized Particle filter."];
+  Node2 -> Node15 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node15 [label="EKFfixed",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classEKFfixed.html",tooltip="Extended Kalman Filter with full matrices in fixed point arithmetic."];
+  Node2 -> Node16 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node16 [label="bdm::Kalman\< chmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html"];
+  Node16 -> Node17 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node17 [label="bdm::KalmanCh",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KalmanCh.html",tooltip="Kalman filter in square root form."];
+  Node17 -> Node18 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node18 [label="bdm::EKFCh",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh.html",tooltip="Extended Kalman Filter in Square root."];
+  Node18 -> Node19 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node19 [label="bdm::EKFCh_chQ",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh__chQ.html",tooltip="Extended Kalman filter in Choleski form with unknown Q."];
+  Node18 -> Node20 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node20 [label="bdm::EKFCh_cond",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh__cond.html",tooltip="Extended Kalman filter with unknown parameters in IM."];
+  Node18 -> Node21 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node21 [label="bdm::EKFCh_dQ",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKFCh__dQ.html",tooltip="Extended Kalman filter in Choleski form with unknown diagonal Q."];
+  Node2 -> Node22 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node22 [label="bdm::Kalman\< fsqmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html"];
+  Node22 -> Node23 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node23 [label="bdm::EKF\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1EKF.html",tooltip="Extended Kalman Filter."];
+  Node2 -> Node24 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node24 [label="bdm::Kalman\< ldmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1Kalman.html"];
+  Node24 -> Node25 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node25 [label="bdm::KFcondQR",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KFcondQR.html",tooltip="Kalman Filter with conditional diagonal matrices R and Q."];
+  Node24 -> Node26 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node26 [label="bdm::KFcondR",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KFcondR.html",tooltip="Kalman Filter with conditional diagonal matrices R and Q."];
+  Node1 -> Node27 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node27 [label="bdm::DS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1DS.html",tooltip="Abstract class for discrete-time sources of data."];
+  Node27 -> Node28 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node28 [label="bdm::ArxDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1ArxDS.html",tooltip="Generator of ARX data."];
+  Node27 -> Node29 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node29 [label="bdm::MemDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1MemDS.html",tooltip="Memory storage of off-line data column-wise."];
+  Node29 -> Node30 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node30 [label="bdm::FileDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1FileDS.html"];
   Node30 -> Node31 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node31 [label="bdm::FileDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1FileDS.html"];
-  Node31 -> Node32 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node32 [label="bdm::CsvFileDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1CsvFileDS.html",tooltip="CSV file data storage The constructor creates Data matrix from the records in a CSV..."];
-  Node31 -> Node33 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node33 [label="bdm::ItppFileDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1ItppFileDS.html",tooltip="Read Data Matrix from an IT file."];
-  Node28 -> Node34 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node34 [label="pmsmDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classpmsmDS.html",tooltip="Simulator of PMSM machine with predefined profile on omega."];
-  Node1 -> Node35 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node35 [label="bdm::epdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1epdf.html",tooltip="Probability density function with numerical statistics, e.g. posterior density."];
+  Node31 [label="bdm::CsvFileDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1CsvFileDS.html",tooltip="CSV file data storage The constructor creates Data matrix from the records in a CSV..."];
+  Node30 -> Node32 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node32 [label="bdm::ITppFileDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1ITppFileDS.html",tooltip="Read Data Matrix from an IT file."];
+  Node27 -> Node33 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node33 [label="pmsmDS",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classpmsmDS.html",tooltip="Simulator of PMSM machine with predefined profile on omega."];
+  Node1 -> Node34 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node34 [label="bdm::epdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1epdf.html",tooltip="Probability density function with numerical statistics, e.g. posterior density."];
+  Node34 -> Node35 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node35 [label="bdm::eEF",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eEF.html",tooltip="General conjugate exponential family posterior density."];
   Node35 -> Node36 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node36 [label="bdm::eEF",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eEF.html",tooltip="General conjugate exponential family posterior density."];
-  Node36 -> Node37 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node37 [label="bdm::eDirich",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eDirich.html",tooltip="Dirichlet posterior density."];
-  Node36 -> Node38 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node38 [label="bdm::egamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1egamma.html",tooltip="Gamma posterior density."];
-  Node38 -> Node39 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node39 [label="bdm::eigamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eigamma.html",tooltip="Inverse-Gamma posterior density."];
-  Node36 -> Node40 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node40 [label="bdm::egiw",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1egiw.html",tooltip="Gauss-inverse-Wishart density stored in LD form."];
-  Node36 -> Node41 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node36 [label="bdm::eDirich",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eDirich.html",tooltip="Dirichlet posterior density."];
+  Node35 -> Node37 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node37 [label="bdm::egamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1egamma.html",tooltip="Gamma posterior density."];
+  Node37 -> Node38 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node38 [label="bdm::eigamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eigamma.html",tooltip="Inverse-Gamma posterior density."];
+  Node35 -> Node39 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node39 [label="bdm::egiw",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1egiw.html",tooltip="Gauss-inverse-Wishart density stored in LD form."];
+  Node39 -> Node40 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node40 [label="bdm::egiwmix",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1egiwmix.html",tooltip="Mixture of egiws."];
+  Node35 -> Node41 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node41 [label="bdm::enorm\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1enorm.html",tooltip="Gaussian density with positive definite (decomposed) covariance matrix."];
-  Node36 -> Node42 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node35 -> Node42 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node42 [label="bdm::enorm\< chmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1enorm.html"];
-  Node36 -> Node43 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node35 -> Node43 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node43 [label="bdm::enorm\< fsqmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1enorm.html"];
-  Node36 -> Node44 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node35 -> Node44 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node44 [label="bdm::enorm\< ldmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1enorm.html"];
   Node44 -> Node45 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node45 [label="bdm::elognorm",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1elognorm.html"];
-  Node35 -> Node46 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node34 -> Node46 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node46 [label="bdm::eEmp",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eEmp.html",tooltip="Weighted empirical density."];
-  Node35 -> Node47 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node34 -> Node47 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node47 [label="bdm::emix",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1emix.html",tooltip="Mixture of epdfs."];
-  Node35 -> Node48 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node34 -> Node48 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node48 [label="bdm::eprod",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eprod.html",tooltip="Product of independent epdfs. For dependent pdfs, use mprod."];
-  Node35 -> Node49 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node34 -> Node49 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node49 [label="bdm::euni",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1euni.html",tooltip="Uniform distributed density on a rectangular support."];
-  Node35 -> Node50 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node34 -> Node50 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node50 [label="bdm::eWishartCh",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1eWishartCh.html"];
-  Node35 -> Node51 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node34 -> Node51 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
   Node51 [label="bdm::merger",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1merger.html",tooltip="Function for general combination of pdfs."];
   Node1 -> Node52 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
@@ -120,53 +120,59 @@
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   Node57 -> Node59 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node59 [label="IMpmsmStat",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classIMpmsmStat.html",tooltip="State evolution model for a PMSM drive and its derivative with respect to , equation..."];
-  Node54 -> Node60 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node60 [label="OMk1",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classOMk1.html",tooltip="model stredni hodnoty pozorovani pro k1"];
-  Node54 -> Node61 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node61 [label="OMpmsm",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classOMpmsm.html",tooltip="Observation model for PMSM drive and its derivative with respect to ."];
-  Node52 -> Node62 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node62 [label="bdm::linfn",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1linfn.html",tooltip="Class representing function ."];
-  Node1 -> Node63 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node63 [label="bdm::logger",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1logger.html",tooltip="Class for storing results (and semi-results) of an experiment."];
-  Node63 -> Node64 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node64 [label="bdm::memlog",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1memlog.html",tooltip="Logging into matrices in data format in memory."];
-  Node64 -> Node65 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node65 [label="bdm::dirfilelog",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1dirfilelog.html",tooltip="Logging into dirfile with buffer in memory."];
+  Node59 [label="IMpmsmMz",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classIMpmsmMz.html",tooltip="State for PMSM with unknown Mz."];
+  Node57 -> Node60 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node60 [label="IMpmsmStat",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classIMpmsmStat.html",tooltip="State evolution model for a PMSM drive and its derivative with respect to , equation..."];
+  Node60 -> Node61 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node61 [label="IMpmsmStatMz",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classIMpmsmStatMz.html",tooltip="State for PMSM with unknown Mz."];
+  Node54 -> Node62 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node62 [label="OMk1",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classOMk1.html",tooltip="model stredni hodnoty pozorovani pro k1"];
+  Node54 -> Node63 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node63 [label="OMpmsm",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classOMpmsm.html",tooltip="Observation model for PMSM drive and its derivative with respect to ."];
+  Node54 -> Node64 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node64 [label="OMpmsm4",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classOMpmsm4.html",tooltip="Observation model for PMSM drive and its derivative with respect to  for full vector..."];
+  Node52 -> Node65 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node65 [label="bdm::linfn",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1linfn.html",tooltip="Class representing function ."];
   Node1 -> Node66 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node66 [label="bdm::mpdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mpdf.html",tooltip="Conditional probability density, e.g. modeling some dependencies."];
+  Node66 [label="bdm::logger",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1logger.html",tooltip="Class for storing results (and semi-results) of an experiment."];
   Node66 -> Node67 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node67 [label="bdm::mEF",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mEF.html",tooltip="Exponential family model."];
+  Node67 [label="bdm::memlog",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1memlog.html",tooltip="Logging into matrices in data format in memory."];
   Node67 -> Node68 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node68 [label="bdm::mgamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mgamma.html",tooltip="Gamma random walk."];
-  Node68 -> Node69 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node69 [label="bdm::mgamma_fix",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mgamma__fix.html",tooltip="Gamma random walk around a fixed point."];
-  Node67 -> Node70 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node70 [label="bdm::mgnorm\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mgnorm.html",tooltip="Mpdf with general function for mean value."];
-  Node67 -> Node71 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node71 [label="bdm::migamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1migamma.html",tooltip="Inverse-Gamma random walk."];
+  Node68 [label="bdm::dirfilelog",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1dirfilelog.html",tooltip="Logging into dirfile with buffer in memory."];
+  Node1 -> Node69 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node69 [label="bdm::mpdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mpdf.html",tooltip="Conditional probability density, e.g. modeling some dependencies."];
+  Node69 -> Node70 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node70 [label="bdm::mEF",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mEF.html",tooltip="Exponential family model."];
+  Node70 -> Node71 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node71 [label="bdm::mgamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mgamma.html",tooltip="Gamma random walk."];
   Node71 -> Node72 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node72 [label="bdm::migamma_ref",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1migamma__ref.html",tooltip="Inverse-Gamma random walk around a fixed point."];
-  Node67 -> Node73 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node73 [label="bdm::mlnorm\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlnorm.html",tooltip="Normal distributed linear function with linear function of mean value;."];
-  Node67 -> Node74 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node74 [label="bdm::mlnorm\< ldmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlnorm.html"];
+  Node72 [label="bdm::mgamma_fix",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mgamma__fix.html",tooltip="Gamma random walk around a fixed point."];
+  Node70 -> Node73 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node73 [label="bdm::mgnorm\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mgnorm.html",tooltip="Mpdf with general function for mean value."];
+  Node70 -> Node74 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node74 [label="bdm::migamma",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1migamma.html",tooltip="Inverse-Gamma random walk."];
   Node74 -> Node75 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node75 [label="bdm::mlstudent",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlstudent.html"];
-  Node66 -> Node76 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node76 [label="bdm::mepdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mepdf.html",tooltip="Unconditional mpdf, allows using epdf in the role of mpdf."];
-  Node66 -> Node77 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node77 [label="bdm::mlognorm",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlognorm.html",tooltip="Log-Normal random walk."];
-  Node66 -> Node78 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node78 [label="bdm::mmix",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mmix.html",tooltip="Mixture of mpdfs with constant weights, all mpdfs are of equal type."];
-  Node66 -> Node79 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node79 [label="bdm::mprod",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mprod.html",tooltip="Chain rule decomposition of epdf."];
-  Node66 -> Node80 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node80 [label="bdm::mratio",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mratio.html",tooltip="Class representing ratio of two densities which arise e.g. by applying the Bayes..."];
-  Node1 -> Node81 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node81 [label="bdm::RV",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1RV.html",tooltip="Class representing variables, most often random variables."];
-  Node82 [label="bdm::compositepdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1compositepdf.html",tooltip="Abstract composition of pdfs, will be used for specific classes this abstract class..."];
-  Node82 -> Node51 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node82 -> Node79 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
-  Node83 [label="bdm::KalmanFull",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KalmanFull.html",tooltip="Basic Kalman filter with full matrices (education purpose only)! Will be deleted..."];
-  Node83 -> Node7 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node75 [label="bdm::migamma_ref",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1migamma__ref.html",tooltip="Inverse-Gamma random walk around a fixed point."];
+  Node70 -> Node76 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node76 [label="bdm::mlnorm\< sq_T \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlnorm.html",tooltip="Normal distributed linear function with linear function of mean value;."];
+  Node70 -> Node77 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node77 [label="bdm::mlnorm\< ldmat \>",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlnorm.html"];
+  Node77 -> Node78 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node78 [label="bdm::mlstudent",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlstudent.html"];
+  Node69 -> Node79 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node79 [label="bdm::mepdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mepdf.html",tooltip="Unconditional mpdf, allows using epdf in the role of mpdf."];
+  Node69 -> Node80 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node80 [label="bdm::mlognorm",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mlognorm.html",tooltip="Log-Normal random walk."];
+  Node69 -> Node81 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node81 [label="bdm::mmix",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mmix.html",tooltip="Mixture of mpdfs with constant weights, all mpdfs are of equal type."];
+  Node69 -> Node82 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node82 [label="bdm::mprod",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mprod.html",tooltip="Chain rule decomposition of epdf."];
+  Node69 -> Node83 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node83 [label="bdm::mratio",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1mratio.html",tooltip="Class representing ratio of two densities which arise e.g. by applying the Bayes..."];
+  Node1 -> Node84 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node84 [label="bdm::RV",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1RV.html",tooltip="Class representing variables, most often random variables."];
+  Node85 [label="bdm::compositepdf",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1compositepdf.html",tooltip="Abstract composition of pdfs, will be used for specific classes this abstract class..."];
+  Node85 -> Node51 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node85 -> Node82 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
+  Node86 [label="bdm::KalmanFull",height=0.2,width=0.4,color="black", fillcolor="white", style="filled",URL="$classbdm_1_1KalmanFull.html",tooltip="Basic Kalman filter with full matrices (education purpose only)! Will be deleted..."];
+  Node86 -> Node7 [dir=back,color="midnightblue",fontsize="10",style="solid",fontname="FreeSans"];
 }
