diff --git a/doc/doxygen/html/creating-modules.html b/doc/doxygen/html/creating-modules.html
index 0e6c3c7e226fa9bfaddead70c58b0737a2c1beac..03b2d5f4295eedfd94aca5979a147538fae4365b 100644
--- a/doc/doxygen/html/creating-modules.html
+++ b/doc/doxygen/html/creating-modules.html
@@ -92,7 +92,7 @@ $(document).ready(function(){initNavTree('creating-modules.html','');});
<div class="contents">
<div class="toc"><h3>Table of Contents</h3>
<ul><li class="level1"><a href="#the-general-structure">The general structure</a></li>
-<li class="level1"><a href="#autotoc_md0">Module dependencies</a></li>
+<li class="level1"><a href="#module-dependencies">Module dependencies</a></li>
</ul>
</div>
<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Zakaria Kasmi</dd></dl>
@@ -115,7 +115,7 @@ The general structure</h1>
</div><!-- fragment --><p>The <code>Makefile.base</code> and <code>Makefile.include</code> macros in the example above are includes for the linear algebra module.</p>
<p>If your module's name differs from the name of the directory it resides in you need to set the <code>MODULE</code> macro in addition.</p>
<p>The <code>Makefile.dep</code> serves to define dependencies and the <code>Makefile.include</code> to append target specific information to variables like INCLUDES. Modules can be used by adding their name to the <code>USEMODULE</code> macro of the application's Makefile.</p>
-<h1><a class="anchor" id="autotoc_md0"></a>
+<h1><a class="anchor" id="module-dependencies"></a>
Module dependencies</h1>
<p>The module may depend on other modules to minimize code duplication. These dependencies are defined in <code>Makefile.dep</code> with the following syntax:</p>
<div class="fragment"><div class="line">ifneq (,$(filter your_module,$(USEMODULE))) # if module in USEMODULE</div>
diff --git a/doc/doxygen/html/givens__test_8c_source.html b/doc/doxygen/html/givens__test_8c_source.html
index b1f1e196cdfd1de784599fba49e02a9e8f073b4b..c828f8700ed723184f36d0d95ce6d4f0a13ce1bc 100644
--- a/doc/doxygen/html/givens__test_8c_source.html
+++ b/doc/doxygen/html/givens__test_8c_source.html
@@ -106,92 +106,93 @@ $(document).ready(function(){initNavTree('givens__test_8c_source.html','');});
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="givens__test_8h.html#a7b8199da35e2aec77e76bbb9c52a28ae"> 28</a></span> <span class="keywordtype">void</span> <a class="code" href="givens__test_8c.html#a7b8199da35e2aec77e76bbb9c52a28ae">givens_test</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> {</div>
-<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> xj, xij;</div>
-<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
-<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  xj = 100;</div>
-<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  xij = 130;</div>
-<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
-<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> c_s_t_r_vec[4];</div>
-<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="qr__givens_8h.html#a53f748fbc6f8a129deb6a048d423d644">qr_givens_get_params</a>(xj, xij, c_s_t_r_vec);</div>
-<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
-<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  printf(<span class="stringliteral">"c = %7.4f\n"</span>, c_s_t_r_vec[0]);</div>
-<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  printf(<span class="stringliteral">"s = %7.4f\n"</span>, c_s_t_r_vec[1]);</div>
-<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  printf(<span class="stringliteral">"t = %7.4f\n"</span>, c_s_t_r_vec[2]);</div>
-<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  printf(<span class="stringliteral">"r = %7.4f\n"</span>, c_s_t_r_vec[3]);</div>
-<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
-<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  puts(<span class="stringliteral">"************ MATRIX A ************"</span>);</div>
-<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> A[10][5] = {</div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  { 0.8147, 0.1576, 0.6557, 0.7060, 0.4387 },</div>
-<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  { 0.9058, 0.9706, 0.0357, 0.0318, 0.3816 },</div>
-<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  { 0.1270, 0.9572, 0.8491, 0.2769, 0.7655 },</div>
-<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  { 0.9134, 0.4854, 0.9340, 0.0462, 0.7952 },</div>
-<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  { 0.6324, 0.8003, 0.6787, 0.0971, 0.1869 },</div>
-<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  { 0.0975, 0.1419, 0.7577, 0.8235, 0.4898 },</div>
-<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  { 0.2785, 0.4218, 0.7431, 0.6948, 0.4456 },</div>
-<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  { 0.5469, 0.9157, 0.3922, 0.3171, 0.6463 },</div>
-<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  { 0.9575, 0.7922, 0.6555, 0.9502, 0.7094 },</div>
-<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  { 0.9649, 0.9595, 0.1712, 0.0344, 0.7547 }</div>
-<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  };</div>
-<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
-<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  uint8_t m, n;</div>
-<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  m = 10;</div>
-<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  n = 5;</div>
-<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
-<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> copy_A[m][n];</div>
-<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
-<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  puts(<span class="stringliteral">"+++++++ Reduced QR-form +++++++"</span>);</div>
-<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, A, copy_A);</div>
-<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> red_Q[m][n];</div>
-<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_A, n, red_Q, <span class="keyword">true</span>);</div>
-<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  printf(<span class="stringliteral">"red_Q = "</span>);</div>
-<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, red_Q, 7, 4);</div>
-<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  puts(<span class="stringliteral">""</span>);</div>
-<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  printf(<span class="stringliteral">"red_R = "</span>);</div>
-<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, copy_A, 7, 4);</div>
-<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  puts(<span class="stringliteral">"+++++++ Full QR-form +++++++"</span>);</div>
-<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, A, copy_A);</div>
-<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> full_Q[m][m];</div>
-<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_A, m, full_Q, <span class="keyword">false</span>);</div>
-<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  printf(<span class="stringliteral">"full_Q = "</span>);</div>
-<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, m, full_Q, 7, 4);</div>
-<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  puts(<span class="stringliteral">""</span>);</div>
-<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  printf(<span class="stringliteral">"full_R = "</span>);</div>
-<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, copy_A, 7, 4);</div>
-<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
-<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  puts(<span class="stringliteral">"************ MATRIX B ************"</span>);</div>
-<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> B[7][7] =</div>
-<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  {</div>
-<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  { 0.8147, 0.5469, 0.8003, 0.0357, 0.6555, 0.8235, 0.7655 },</div>
-<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  { 0.9058, 0.9575, 0.1419, 0.8491, 0.1712, 0.6948, 0.7952 },</div>
-<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  { 0.1270, 0.9649, 0.4218, 0.9340, 0.7060, 0.3171, 0.1869 },</div>
-<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  { 0.9134, 0.1576, 0.9157, 0.6787, 0.0318, 0.9502, 0.4898 },</div>
-<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  { 0.6324, 0.9706, 0.7922, 0.7577, 0.2769, 0.0344, 0.4456 },</div>
-<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  { 0.0975, 0.9572, 0.9595, 0.7431, 0.0462, 0.4387, 0.6463 },</div>
-<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  { 0.2785, 0.4854, 0.6557, 0.3922, 0.0971, 0.3816, 0.7094 }</div>
-<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  };</div>
-<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  m = 7;</div>
-<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  n = 7;</div>
-<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> copy_B[m][n];</div>
-<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  puts(<span class="stringliteral">"+++++++ Reduced QR-form +++++++"</span>);</div>
-<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, B, copy_B);</div>
-<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> red_Q1[m][n];</div>
-<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_B, n, red_Q1, <span class="keyword">true</span>);</div>
-<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  printf(<span class="stringliteral">"red_Q = "</span>);</div>
-<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, red_Q1, 7, 4);</div>
-<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  puts(<span class="stringliteral">""</span>);</div>
-<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  printf(<span class="stringliteral">"red_R = "</span>);</div>
-<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, copy_B, 7, 4);</div>
-<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  puts(<span class="stringliteral">"+++++++ Full QR-form +++++++"</span>);</div>
-<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, B, copy_B);</div>
-<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> full_Q1[m][m];</div>
-<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_B, m, full_Q1, <span class="keyword">false</span>);</div>
-<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  printf(<span class="stringliteral">"full_Q = "</span>);</div>
-<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, m, full_Q1, 7, 4);</div>
-<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  puts(<span class="stringliteral">""</span>);</div>
-<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  printf(<span class="stringliteral">"full_R = "</span>);</div>
-<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, copy_B, 7, 4);</div>
-<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
-<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> }</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  puts(<span class="stringliteral">"############ Test the Givens algorithm ###############"</span>);</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> xj, xij;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  xj = 100;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  xij = 130;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> c_s_t_r_vec[4];</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="qr__givens_8h.html#a53f748fbc6f8a129deb6a048d423d644">qr_givens_get_params</a>(xj, xij, c_s_t_r_vec);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  printf(<span class="stringliteral">"c = %7.4f\n"</span>, c_s_t_r_vec[0]);</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  printf(<span class="stringliteral">"s = %7.4f\n"</span>, c_s_t_r_vec[1]);</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  printf(<span class="stringliteral">"t = %7.4f\n"</span>, c_s_t_r_vec[2]);</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  printf(<span class="stringliteral">"r = %7.4f\n"</span>, c_s_t_r_vec[3]);</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  puts(<span class="stringliteral">"************ MATRIX A ************"</span>);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> A[10][5] = {</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  { 0.8147, 0.1576, 0.6557, 0.7060, 0.4387 },</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  { 0.9058, 0.9706, 0.0357, 0.0318, 0.3816 },</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  { 0.1270, 0.9572, 0.8491, 0.2769, 0.7655 },</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  { 0.9134, 0.4854, 0.9340, 0.0462, 0.7952 },</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  { 0.6324, 0.8003, 0.6787, 0.0971, 0.1869 },</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  { 0.0975, 0.1419, 0.7577, 0.8235, 0.4898 },</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  { 0.2785, 0.4218, 0.7431, 0.6948, 0.4456 },</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  { 0.5469, 0.9157, 0.3922, 0.3171, 0.6463 },</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  { 0.9575, 0.7922, 0.6555, 0.9502, 0.7094 },</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  { 0.9649, 0.9595, 0.1712, 0.0344, 0.7547 }</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  };</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  uint8_t m, n;</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  m = 10;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  n = 5;</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> copy_A[m][n];</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  puts(<span class="stringliteral">"+++++++ Reduced QR-form +++++++"</span>);</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, A, copy_A);</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> red_Q[m][n];</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_A, n, red_Q, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  printf(<span class="stringliteral">"red_Q = "</span>);</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, red_Q, 7, 4);</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  puts(<span class="stringliteral">""</span>);</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  printf(<span class="stringliteral">"red_R = "</span>);</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, copy_A, 7, 4);</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  puts(<span class="stringliteral">"+++++++ Full QR-form +++++++"</span>);</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, A, copy_A);</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> full_Q[m][m];</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_A, m, full_Q, <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  printf(<span class="stringliteral">"full_Q = "</span>);</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, m, full_Q, 7, 4);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  puts(<span class="stringliteral">""</span>);</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  printf(<span class="stringliteral">"full_R = "</span>);</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, copy_A, 7, 4);</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  puts(<span class="stringliteral">"************ MATRIX B ************"</span>);</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> B[7][7] =</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  {</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  { 0.8147, 0.5469, 0.8003, 0.0357, 0.6555, 0.8235, 0.7655 },</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  { 0.9058, 0.9575, 0.1419, 0.8491, 0.1712, 0.6948, 0.7952 },</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  { 0.1270, 0.9649, 0.4218, 0.9340, 0.7060, 0.3171, 0.1869 },</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  { 0.9134, 0.1576, 0.9157, 0.6787, 0.0318, 0.9502, 0.4898 },</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  { 0.6324, 0.9706, 0.7922, 0.7577, 0.2769, 0.0344, 0.4456 },</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  { 0.0975, 0.9572, 0.9595, 0.7431, 0.0462, 0.4387, 0.6463 },</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  { 0.2785, 0.4854, 0.6557, 0.3922, 0.0971, 0.3816, 0.7094 }</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  };</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  m = 7;</div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  n = 7;</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> copy_B[m][n];</div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  puts(<span class="stringliteral">"+++++++ Reduced QR-form +++++++"</span>);</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, B, copy_B);</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> red_Q1[m][n];</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_B, n, red_Q1, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  printf(<span class="stringliteral">"red_Q = "</span>);</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, red_Q1, 7, 4);</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  puts(<span class="stringliteral">""</span>);</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  printf(<span class="stringliteral">"red_R = "</span>);</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, copy_B, 7, 4);</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  puts(<span class="stringliteral">"+++++++ Full QR-form +++++++"</span>);</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="matrix_8h.html#ae8d8daa117e9f96a5e29fe6c76c4998c">matrix_copy</a>(m, n, B, copy_B);</div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> full_Q1[m][m];</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="qr__givens_8h.html#a07adca97c58afc057a5cff738f6473cc">qr_givens_decomp</a>(m, n, copy_B, m, full_Q1, <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  printf(<span class="stringliteral">"full_Q = "</span>);</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, m, full_Q1, 7, 4);</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  puts(<span class="stringliteral">""</span>);</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  printf(<span class="stringliteral">"full_R = "</span>);</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, n, copy_B, 7, 4);</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> }</div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="amatrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div><div class="ttdoc">Matrix computations.</div></div>
diff --git a/doc/doxygen/html/householder__test_8c_source.html b/doc/doxygen/html/householder__test_8c_source.html
index 94e5e5ee74a5a8334dafb850ef30ed4a6aa1e1a7..013ba27e37aa0439b9e9ee33f21844c8bd18fe25 100644
--- a/doc/doxygen/html/householder__test_8c_source.html
+++ b/doc/doxygen/html/householder__test_8c_source.html
@@ -108,7 +108,7 @@ $(document).ready(function(){initNavTree('householder__test_8c_source.html','');
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="householder__test_8h.html#aacc09bb5d8990f8f6f3bc872b9a8d9a0"> 31</a></span> <span class="keywordtype">void</span> <a class="code" href="householder__test_8c.html#aacc09bb5d8990f8f6f3bc872b9a8d9a0">householder_test</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> {</div>
-<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  puts(<span class="stringliteral">"############ Test the Householder algorithm ###############"</span>);</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> A[10][5] = { { 0.8147, 0.1576, 0.6557, 0.7060, 0.4387 },</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  { 0.9058, 0.9706, 0.0357, 0.0318, 0.3816 },</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  { 0.1270, 0.9572, 0.8491, 0.2769, 0.7655 },</div>
diff --git a/doc/doxygen/html/index.html b/doc/doxygen/html/index.html
index 5e9bff818db9c7363bd046d6afa7758a674245b2..253a7c382a0c0ecd57be232f26326c45571ffa8d 100644
--- a/doc/doxygen/html/index.html
+++ b/doc/doxygen/html/index.html
@@ -94,11 +94,11 @@ $(document).ready(function(){initNavTree('index.html','');});
<ul><li class="level1"><a href="#RcdMathLib-in-a-nutshell">RcdMathLib in a nutshell</a></li>
<li class="level1"><a href="#download-use-RcdMathLib">Download and use RcdMathLib</a></li>
<li class="level1"><a href="#the-quickest-start">The quickest start</a></li>
-<li class="level1"><a href="#structure">Structure</a><ul><li class="level2"><a href="#autotoc_md1">Linear Algebra</a></li>
-<li class="level2"><a href="#autotoc_md2">Non-Linear Algebra</a></li>
-<li class="level2"><a href="#autotoc_md3">Localization</a></li>
-<li class="level2"><a href="#autotoc_md4">examples</a></li>
-<li class="level2"><a href="#autotoc_md5">doc</a></li>
+<li class="level1"><a href="#structure">Structure</a><ul><li class="level2"><a href="#autotoc_md0">Linear Algebra</a></li>
+<li class="level2"><a href="#autotoc_md1">Non-Linear Algebra</a></li>
+<li class="level2"><a href="#autotoc_md2">Localization</a></li>
+<li class="level2"><a href="#autotoc_md3">examples</a></li>
+<li class="level2"><a href="#autotoc_md4">doc</a></li>
</ul>
</li>
<li class="level1"><a href="#further-information">Further information</a></li>
@@ -134,7 +134,7 @@ Software Architecture</div></div>
<p>In addition RcdMathLib includes various examples to familiarize the user with the software as well as an API to facilitate the use and the further development of the library.</p>
<p>The structural groups are projected onto the directory structure of RcdMathLib, where each of these groups resides in one or two directories in the main RcdMathLib directory.</p>
<p>The following list gives a more detailed description of each of RcdMathLib's top-level directories:</p>
-<h2><a class="anchor" id="autotoc_md1"></a>
+<h2><a class="anchor" id="autotoc_md0"></a>
Linear Algebra</h2>
<p>This directory contains functions that are specific to vector and matrix operations, and other algebraic operations. It provides functions to perform basic matrix operations such as matrix addition, multiplication, or transposition. It also provides algorithms for complex operations like matrix decomposition algorithms, algorithms to calculate the pseudo-inverse of a matrix, or methods to solve systems of linear equations. The linear algebra module is divided in the following sub-modules:</p><ul>
<li>Basic operations sub-module.</li>
@@ -144,7 +144,7 @@ Linear Algebra</h2>
<li>Utilities sub-module.</li>
</ul>
<p>See <a class="el" href="group__linear__algebra.html">LINEAR_ALGEBRA</a> module for further information and API documentations.</p>
-<h2><a class="anchor" id="autotoc_md2"></a>
+<h2><a class="anchor" id="autotoc_md1"></a>
Non-Linear Algebra</h2>
<p>The non-linear algebra module contains functions to solve multi-variant nonlinear equations as wells algorithms solving problems of regression smoothing and curve fitting. This module also enables enables the optimization of an approximate solution by using Non-linear Least Squares (NLS) methods such as modified Gauss–Newton (GN) or the Levenberg–Marquardt (LVM) algorithms. The non-linear algebra module is divided in the two following sub-modules:</p>
<ul>
@@ -152,7 +152,7 @@ Non-Linear Algebra</h2>
<li>Optimization sub-module.</li>
</ul>
<p>See here <a class="el" href="group__non__linear__algebra.html">NON_LINEAR_ALGEBRA</a> module for further information.</p>
-<h2><a class="anchor" id="autotoc_md3"></a>
+<h2><a class="anchor" id="autotoc_md2"></a>
Localization</h2>
<p>The localization module contains functions to compute a position of a mobile device using distance measurements or DC-pulsed, magnetic signals. This module also includes optimization algorithms such as the Levenberg–Marquardt approach to optimize the calculated position. The localization module also involves a method to recognize and mitigate the multipath errors on the mobile station.</p>
<p>In the <code>position_algos</code> sub-directory you can find the implementations of the distance-based localization system (see the <a class="el" href="group__distance__based.html">DISTANCE_BASED</a> module) as well as the implementations of the DC-pulsed, magnetic position system (see the <a class="el" href="group__magnetic__based.html">MAGNETIC_BASED</a> module). The <code>pos_algos_common</code> sub-directory contains common localization algorithms like the trilateration method (see the <a class="el" href="group__pos__algos__common.html">POS_ALGOS_COMMON</a> module). The optimization algorithms are localted in the <code>optimization</code> sub-directory providing the following optimization approaches:</p>
@@ -163,12 +163,12 @@ Localization</h2>
<li>Multipath Distance Detection and Mitigation (MDDM) algorithm.</li>
</ul>
<p>See the <a class="el" href="group__localization.html">LOCALIZATION</a> module for more detailed information.</p>
-<h2><a class="anchor" id="autotoc_md4"></a>
+<h2><a class="anchor" id="autotoc_md3"></a>
examples</h2>
<p>Here you find a number of example applications that demonstrate certain features of RcdMathLib. The examples found in this directory is a good starting point for anyone who is new to RcdMathLib.</p>
<p>For more information best browse that directory and have a look at the <code>README.md</code> files that ship with each example.</p>
<p>To create your own application - here or anywhere else - see <a class="el" href="creating-an-application.html">Creating an application</a></p>
-<h2><a class="anchor" id="autotoc_md5"></a>
+<h2><a class="anchor" id="autotoc_md4"></a>
doc</h2>
<p>The <code>doc</code> directory contains the doxygen configuration and also contains the compiled doxygen output after running <code>make doc</code>.</p>
<h1><a class="anchor" id="further-information"></a>
diff --git a/doc/doxygen/html/lu__decomp__test_8c_source.html b/doc/doxygen/html/lu__decomp__test_8c_source.html
index 9a4edcd8864062f1d5ac92dba038c124bf8c9f07..ef5d27ceb0d11dbbd7bcea5b7a68d321dabd2dcc 100644
--- a/doc/doxygen/html/lu__decomp__test_8c_source.html
+++ b/doc/doxygen/html/lu__decomp__test_8c_source.html
@@ -106,60 +106,61 @@ $(document).ready(function(){initNavTree('lu__decomp__test_8c_source.html','');}
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="lu__decomp__test_8c.html#a5798fee8a59a44f3a6a712ffd700dfd1"> 29</a></span> <span class="keywordtype">void</span> <a class="code" href="lu__decomp__test_8c.html#a5798fee8a59a44f3a6a712ffd700dfd1">lu_decomp_test</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> {</div>
-<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> A[5][5] = { { 0.8147, 0.1576, 0.6557, 0.7060, 0.4387 },</div>
-<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  { 0.9058, 0.9706, 0.0357, 0.0318, 0.3816 },</div>
-<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  { 0.1270, 0.9572, 0.8491, 0.2769, 0.7655 },</div>
-<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  { 0.9134, 0.4854, 0.9340, 0.0462, 0.7952 },</div>
-<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  { 0.6324, 0.8003, 0.6787, 0.0971, 0.1869 }, };</div>
-<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  uint8_t n;</div>
-<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
-<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  n = 5;</div>
-<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> L[n][n];</div>
-<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> P[n][n];</div>
-<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="lu__decomp_8h.html#a8649e9f4b85f17bf35a22b18e7f239d7">lu_decomp</a>(n, A, L, P);</div>
-<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  printf(<span class="stringliteral">"L = "</span>);</div>
-<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, L, 7, 4);</div>
-<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  printf(<span class="stringliteral">"U = "</span>);</div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, A, 7, 4);</div>
-<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  printf(<span class="stringliteral">"P = "</span>);</div>
-<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, P, 7, 4);</div>
-<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
-<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> B[11][11] = {</div>
-<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  { 0.4387, 0.6797, 0.5060, 0.2435, 0.9172, 0.1299, 0.2630, 0.9961, 0.2599, 0.1450,</div>
-<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  0.4173 },</div>
-<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  { 0.3816, 0.6551, 0.6991, 0.9293, 0.2858, 0.5688, 0.6541, 0.0782, 0.8001, 0.8530,</div>
-<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  0.0497 },</div>
-<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  { 0.7655, 0.1626, 0.8909, 0.3500, 0.7572, 0.4694, 0.6892, 0.4427, 0.4314, 0.6221,</div>
-<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  0.9027 },</div>
-<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  { 0.7952, 0.1190, 0.9593, 0.1966, 0.7537, 0.0119, 0.7482, 0.1067, 0.9106, 0.3510,</div>
-<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  0.9448 },</div>
-<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  { 0.1869, 0.4984, 0.5472, 0.2511, 0.3804, 0.3371, 0.4505, 0.9619, 0.1818, 0.5132,</div>
-<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  0.4909 },</div>
-<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  { 0.4898, 0.9597, 0.1386, 0.6160, 0.5678, 0.1622, 0.0838, 0.0046, 0.2638, 0.4018,</div>
-<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  0.4893 },</div>
-<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  { 0.4456, 0.3404, 0.1493, 0.4733, 0.0759, 0.7943, 0.2290, 0.7749, 0.1455, 0.0760,</div>
-<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  0.3377 },</div>
-<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  { 0.6463, 0.5853, 0.2575, 0.3517, 0.0540, 0.3112, 0.9133, 0.8173, 0.1361, 0.2399,</div>
-<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  0.9001 },</div>
-<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  { 0.7094, 0.2238, 0.8407, 0.8308, 0.5308, 0.5285, 0.1524, 0.8687, 0.8693, 0.1233,</div>
-<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  0.3692 },</div>
-<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  { 0.7547, 0.7513, 0.2543, 0.5853, 0.7792, 0.1656, 0.8258, 0.0844, 0.5797, 0.1839,</div>
-<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  0.1112 },</div>
-<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  { 0.2760, 0.2551, 0.8143, 0.5497, 0.9340, 0.6020, 0.5383, 0.3998, 0.5499, 0.2400,</div>
-<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  0.7803 }</div>
-<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  };</div>
-<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
-<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  n = 11;</div>
-<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> L1[n][n];</div>
-<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> P1[n][n];</div>
-<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="lu__decomp_8h.html#a8649e9f4b85f17bf35a22b18e7f239d7">lu_decomp</a>(n, B, L1, P1);</div>
-<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  printf(<span class="stringliteral">"L1 = "</span>);</div>
-<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, L1, 7, 4);</div>
-<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  printf(<span class="stringliteral">"U1 = "</span>);</div>
-<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, B, 7, 4);</div>
-<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  printf(<span class="stringliteral">"P1 = "</span>);</div>
-<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, P1, 7, 4);</div>
-<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> }</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  puts(<span class="stringliteral">"############ Test the LU decomposition algorithm ###############"</span>);</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> A[5][5] = { { 0.8147, 0.1576, 0.6557, 0.7060, 0.4387 },</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  { 0.9058, 0.9706, 0.0357, 0.0318, 0.3816 },</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  { 0.1270, 0.9572, 0.8491, 0.2769, 0.7655 },</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  { 0.9134, 0.4854, 0.9340, 0.0462, 0.7952 },</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  { 0.6324, 0.8003, 0.6787, 0.0971, 0.1869 }, };</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  uint8_t n;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  n = 5;</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> L[n][n];</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> P[n][n];</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="lu__decomp_8h.html#a8649e9f4b85f17bf35a22b18e7f239d7">lu_decomp</a>(n, A, L, P);</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  printf(<span class="stringliteral">"L = "</span>);</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, L, 7, 4);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  printf(<span class="stringliteral">"U = "</span>);</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, A, 7, 4);</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  printf(<span class="stringliteral">"P = "</span>);</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, P, 7, 4);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> B[11][11] = {</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  { 0.4387, 0.6797, 0.5060, 0.2435, 0.9172, 0.1299, 0.2630, 0.9961, 0.2599, 0.1450,</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  0.4173 },</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  { 0.3816, 0.6551, 0.6991, 0.9293, 0.2858, 0.5688, 0.6541, 0.0782, 0.8001, 0.8530,</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  0.0497 },</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  { 0.7655, 0.1626, 0.8909, 0.3500, 0.7572, 0.4694, 0.6892, 0.4427, 0.4314, 0.6221,</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  0.9027 },</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  { 0.7952, 0.1190, 0.9593, 0.1966, 0.7537, 0.0119, 0.7482, 0.1067, 0.9106, 0.3510,</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  0.9448 },</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  { 0.1869, 0.4984, 0.5472, 0.2511, 0.3804, 0.3371, 0.4505, 0.9619, 0.1818, 0.5132,</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  0.4909 },</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  { 0.4898, 0.9597, 0.1386, 0.6160, 0.5678, 0.1622, 0.0838, 0.0046, 0.2638, 0.4018,</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  0.4893 },</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  { 0.4456, 0.3404, 0.1493, 0.4733, 0.0759, 0.7943, 0.2290, 0.7749, 0.1455, 0.0760,</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  0.3377 },</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  { 0.6463, 0.5853, 0.2575, 0.3517, 0.0540, 0.3112, 0.9133, 0.8173, 0.1361, 0.2399,</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  0.9001 },</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  { 0.7094, 0.2238, 0.8407, 0.8308, 0.5308, 0.5285, 0.1524, 0.8687, 0.8693, 0.1233,</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  0.3692 },</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  { 0.7547, 0.7513, 0.2543, 0.5853, 0.7792, 0.1656, 0.8258, 0.0844, 0.5797, 0.1839,</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  0.1112 },</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  { 0.2760, 0.2551, 0.8143, 0.5497, 0.9340, 0.6020, 0.5383, 0.3998, 0.5499, 0.2400,</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  0.7803 }</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  };</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  n = 11;</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> L1[n][n];</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> P1[n][n];</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="lu__decomp_8h.html#a8649e9f4b85f17bf35a22b18e7f239d7">lu_decomp</a>(n, B, L1, P1);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  printf(<span class="stringliteral">"L1 = "</span>);</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, L1, 7, 4);</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  printf(<span class="stringliteral">"U1 = "</span>);</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, B, 7, 4);</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  printf(<span class="stringliteral">"P1 = "</span>);</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(n, n, P1, 7, 4);</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> }</div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="alu__decomp_8h_html"><div class="ttname"><a href="lu__decomp_8h.html">lu_decomp.h</a></div><div class="ttdoc">Computes the LU decomposition of the matrix.</div></div>
diff --git a/doc/doxygen/html/navtreedata.js b/doc/doxygen/html/navtreedata.js
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- [ "doc", "index.html#autotoc_md5", null ]
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+ [ "Non-Linear Algebra", "index.html#autotoc_md1", null ],
+ [ "Localization", "index.html#autotoc_md2", null ],
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+ [ "Module dependencies", "creating-modules.html#module-dependencies", null ]
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[ "Getting started", "getting-started.html", [
[ "Downloading RcdMathLib code", "getting-started.html#downloading-RcdMathLib-code", null ],
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diff --git a/doc/doxygen/html/svd__test_8c_source.html b/doc/doxygen/html/svd__test_8c_source.html
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@@ -109,132 +109,133 @@ $(document).ready(function(){initNavTree('svd__test_8c_source.html','');});
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="svd__test_8c.html#a5b3fa4be9f289d4078fdd009719a4077"> 32</a></span> <span class="keywordtype">void</span> <a class="code" href="svd__test_8c.html#a5b3fa4be9f289d4078fdd009719a4077">svd_test</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> {</div>
-<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  uint8_t m, n;</div>
-<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  uint8_t i = 0;</div>
-<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
-<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="comment">//m<n</span></div>
-<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix1_arr[3][4] = { { 1.0000, -3.6000, -1.2000, -2.8400 },</div>
-<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  { 1.0000, -7.2400, -7.1800, -2.2400 },</div>
-<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  { 1.0000, -12.0600, -1.3400, -3.6600 } };</div>
-<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
-<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  m = 3;</div>
-<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  n = 4;</div>
-<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix2_arr[3][4] = {</div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  { 1, -22, 30, -20 },</div>
-<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  { 1, -26, -42, -10 },</div>
-<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  { 1, 18, -30, -14 }</div>
-<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  };</div>
-<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix1_arr, ++i);</div>
-<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix2_arr, ++i);</div>
-<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
-<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  printf(</div>
-<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m < n : (2,3) ########\n"</span>,</div>
-<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  ++i);</div>
-<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix3_arr[2][3] = {</div>
-<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  { 3, 1, 1 },</div>
-<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  { -1, 3, 1 }</div>
-<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  };</div>
-<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  m = 2;</div>
-<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  n = 3;</div>
-<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix3_arr, i);</div>
-<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
-<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  printf(</div>
-<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m > n : (3,2) ########\n"</span>,</div>
-<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  ++i);</div>
-<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix4_arr[3][2] = {</div>
-<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  { 1, 2 },</div>
-<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  { 2, 2 },</div>
-<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  { 2, 1 }</div>
-<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  };</div>
-<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  m = 3;</div>
-<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  n = 2;</div>
-<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix4_arr, i);</div>
-<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
-<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  printf(</div>
-<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m = n : (4,4) ########\n"</span>,</div>
-<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  ++i);</div>
-<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
-<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix5_arr[4][4] = {</div>
-<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  { 6, 0, 0, 6 },</div>
-<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  { 2, 5, 0, 4 },</div>
-<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  { 0, 6, 2, 3 },</div>
-<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  { 0, 1, 5, 5 }</div>
-<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  };</div>
-<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  m = 4;</div>
-<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  n = 4;</div>
-<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix5_arr, i);</div>
-<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
-<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  printf(</div>
-<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m < n : (4,7) ########\n"</span>,</div>
-<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  ++i);</div>
-<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix6_arr[4][7] = {</div>
-<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  { 2, 5, 4, 6, 3, 2, 1 },</div>
-<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  { 1, 2, 4, 6, 0, 0, 6 },</div>
-<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  { 2, 1, 1, 5, 4, 6, 3 },</div>
-<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  { 3, 3, 1, 0, 4, 5, 0 }</div>
-<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  };</div>
-<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  m = 4;</div>
-<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  n = 7;</div>
-<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix6_arr, i);</div>
-<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
-<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  printf(</div>
-<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m = n : (3,3) ########\n"</span>,</div>
-<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  ++i);</div>
-<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix7_arr[3][3] = {</div>
-<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  { 1., 2., 3 },</div>
-<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  { 4., 5., 6. },</div>
-<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  { 7., 8., 10. }</div>
-<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  };</div>
-<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  m = 3;</div>
-<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  n = 3;</div>
-<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix7_arr, i);</div>
-<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
-<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  printf(</div>
-<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m < n : (5,7) ########\n"</span>,</div>
-<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  ++i);</div>
-<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix8_arr[5][7] = {</div>
-<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  { 6, 2, 7, 3, 6, 0, 1 },</div>
-<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  { 7, 1, 6, 3, 6, 4, 0 },</div>
-<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  { 3, 5, 1, 1, 0, 2, 3 },</div>
-<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  { 5, 5, 7, 3, 1, 3, 0 },</div>
-<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  { 6, 5, 4, 1, 2, 7, 1 }</div>
-<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  };</div>
-<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  m = 5;</div>
-<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  n = 7;</div>
-<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix8_arr, i);</div>
-<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
-<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="comment">//m>n</span></div>
-<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  printf(</div>
-<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m > n : (7,5) ########\n"</span>,</div>
-<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  ++i);</div>
-<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix9_arr[7][5] = {</div>
-<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  { 6.395, 2.897, 7.333, 3.777, 6.543 },</div>
-<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  { 7.635, 1.235, 6.301, 3.356, 6.777 },</div>
-<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  { 3.595, 5.901, 1.408, 1.697, 0.539 },</div>
-<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  { 5.501, 5.562, 7.271, 3.907, 1.651 },</div>
-<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  { 6.198, 5.069, 4.238, 1.388, 2.855 },</div>
-<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  { 0.000, 1.999, 4.103, 0.561, 2.908 },</div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  { 3.834, 3.172, 0.009, 7.069, 1.075 }</div>
-<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  };</div>
-<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
-<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  m = 7;</div>
-<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  n = 5;</div>
-<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix9_arr, i);</div>
-<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
-<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  printf(</div>
-<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m > n : (5,7) ########\n"</span>,</div>
-<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  ++i);</div>
-<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix10_arr[5][7] = {</div>
-<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  { 6.395, 2.897, 7.333, 3.777, 6.543, 0.000, 1.999 },</div>
-<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  { 7.635, 1.235, 6.301, 3.356, 6.777, 4.103, 0.561 },</div>
-<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  { 3.595, 5.901, 1.408, 1.697, 0.539, 2.908, 3.834 },</div>
-<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  { 5.501, 5.562, 7.271, 3.907, 1.651, 3.172, 0.009 },</div>
-<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  { 6.198, 5.069, 4.238, 1.388, 2.855, 7.069, 1.075 }</div>
-<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  };</div>
-<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  m = 5;</div>
-<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  n = 7;</div>
-<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix10_arr, i);</div>
-<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> }</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  puts(<span class="stringliteral">"############ Test the SVD algorithm ###############"</span>);</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  uint8_t m, n;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  uint8_t i = 0;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="comment">//m<n</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix1_arr[3][4] = { { 1.0000, -3.6000, -1.2000, -2.8400 },</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  { 1.0000, -7.2400, -7.1800, -2.2400 },</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  { 1.0000, -12.0600, -1.3400, -3.6600 } };</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  m = 3;</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  n = 4;</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix2_arr[3][4] = {</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  { 1, -22, 30, -20 },</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  { 1, -26, -42, -10 },</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  { 1, 18, -30, -14 }</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  };</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix1_arr, ++i);</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix2_arr, ++i);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  printf(</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m < n : (2,3) ########\n"</span>,</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  ++i);</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix3_arr[2][3] = {</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  { 3, 1, 1 },</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  { -1, 3, 1 }</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  };</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  m = 2;</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  n = 3;</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix3_arr, i);</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  printf(</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m > n : (3,2) ########\n"</span>,</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  ++i);</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix4_arr[3][2] = {</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  { 1, 2 },</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  { 2, 2 },</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  { 2, 1 }</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  };</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  m = 3;</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  n = 2;</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix4_arr, i);</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  printf(</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m = n : (4,4) ########\n"</span>,</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  ++i);</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix5_arr[4][4] = {</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  { 6, 0, 0, 6 },</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  { 2, 5, 0, 4 },</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  { 0, 6, 2, 3 },</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  { 0, 1, 5, 5 }</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  };</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  m = 4;</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  n = 4;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix5_arr, i);</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  printf(</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m < n : (4,7) ########\n"</span>,</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  ++i);</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix6_arr[4][7] = {</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  { 2, 5, 4, 6, 3, 2, 1 },</div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  { 1, 2, 4, 6, 0, 0, 6 },</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  { 2, 1, 1, 5, 4, 6, 3 },</div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  { 3, 3, 1, 0, 4, 5, 0 }</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  };</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  m = 4;</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  n = 7;</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix6_arr, i);</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  printf(</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m = n : (3,3) ########\n"</span>,</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  ++i);</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix7_arr[3][3] = {</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  { 1., 2., 3 },</div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  { 4., 5., 6. },</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  { 7., 8., 10. }</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  };</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  m = 3;</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  n = 3;</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix7_arr, i);</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  printf(</div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m < n : (5,7) ########\n"</span>,</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  ++i);</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix8_arr[5][7] = {</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  { 6, 2, 7, 3, 6, 0, 1 },</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  { 7, 1, 6, 3, 6, 4, 0 },</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  { 3, 5, 1, 1, 0, 2, 3 },</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  { 5, 5, 7, 3, 1, 3, 0 },</div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  { 6, 5, 4, 1, 2, 7, 1 }</div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  };</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  m = 5;</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  n = 7;</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix8_arr, i);</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  </div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="comment">//m>n</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  printf(</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m > n : (7,5) ########\n"</span>,</div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  ++i);</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix9_arr[7][5] = {</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  { 6.395, 2.897, 7.333, 3.777, 6.543 },</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  { 7.635, 1.235, 6.301, 3.356, 6.777 },</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  { 3.595, 5.901, 1.408, 1.697, 0.539 },</div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  { 5.501, 5.562, 7.271, 3.907, 1.651 },</div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  { 6.198, 5.069, 4.238, 1.388, 2.855 },</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  { 0.000, 1.999, 4.103, 0.561, 2.908 },</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  { 3.834, 3.172, 0.009, 7.069, 1.075 }</div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  };</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  m = 7;</div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  n = 5;</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix9_arr, i);</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  printf(</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="stringliteral">"######## Test %d: Singular Value Decomposition m > n : (5,7) ########\n"</span>,</div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  ++i);</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> matrix10_arr[5][7] = {</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  { 6.395, 2.897, 7.333, 3.777, 6.543, 0.000, 1.999 },</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  { 7.635, 1.235, 6.301, 3.356, 6.777, 4.103, 0.561 },</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  { 3.595, 5.901, 1.408, 1.697, 0.539, 2.908, 3.834 },</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  { 5.501, 5.562, 7.271, 3.907, 1.651, 3.172, 0.009 },</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  { 6.198, 5.069, 4.238, 1.388, 2.855, 7.069, 1.075 }</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  };</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  m = 5;</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  n = 7;</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="svd_8h.html#a55b4a07eb7dbd09f7fa1d15debd44595">svd_compute_print_U_S_V_s</a>(m, n, matrix10_arr, i);</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> }</div>
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<div class="ttc" id="amatrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div><div class="ttdoc">Matrix computations.</div></div>