From d8b14cc8b473798583c90de82a1ddd50b79ee944 Mon Sep 17 00:00:00 2001
From: zkasmi <zkasmi@inf.fu-berlin.de>
Date: Sun, 22 Mar 2020 16:39:38 +0100
Subject: [PATCH] New latex documentation files.

---
 doc/doxygen/latex/DOP_8c.tex                  |    63 +
 doc/doxygen/latex/DOP_8h.tex                  |    61 +
 doc/doxygen/latex/Makefile                    |    23 +
 doc/doxygen/latex/RcdMathLib_refman.pdf       |   Bin 0 -> 1109184 bytes
 doc/doxygen/latex/annotated.tex               |     4 +
 doc/doxygen/latex/combinatorics_8c.tex        |    91 +
 doc/doxygen/latex/combinatorics_8h.tex        |   103 +
 doc/doxygen/latex/creating-an-application.tex |    77 +
 doc/doxygen/latex/creating-modules.tex        |    51 +
 .../latex/damped__newton__raphson_8c.log      |  1815 +
 .../latex/damped__newton__raphson_8c.tex      |   164 +
 .../latex/damped__newton__raphson_8h.tex      |   161 +
 doc/doxygen/latex/dist__based__fi_8c.tex      |    96 +
 doc/doxygen/latex/dist__based__fi_8h.tex      |    95 +
 .../latex/dist__based__jacobian_8c.tex        |   173 +
 .../latex/dist__based__jacobian_8h.tex        |   171 +
 .../latex/dist__based__position_8c.tex        |    82 +
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 .../latex/distance__based__test_8c.tex        |    50 +
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 doc/doxygen/latex/doxygen.sty                 |   570 +
 doc/doxygen/latex/files.tex                   |    98 +
 doc/doxygen/latex/fsolve_8c.tex               |    79 +
 doc/doxygen/latex/fsolve_8h.tex               |   106 +
 doc/doxygen/latex/fsolve__test_8c.tex         |   216 +
 doc/doxygen/latex/fsolve__test_8h.tex         |    23 +
 doc/doxygen/latex/getting-started.tex         |   192 +
 doc/doxygen/latex/givens__test_8c.tex         |    26 +
 doc/doxygen/latex/givens__test_8h.tex         |    23 +
 .../latex/group__basic__operations.tex        |    24 +
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 doc/doxygen/latex/group__linear__algebra.aux  |    44 +
 doc/doxygen/latex/group__linear__algebra.tex  |    30 +
 doc/doxygen/latex/group__localization.aux     |    44 +
 doc/doxygen/latex/group__localization.tex     |    24 +
 doc/doxygen/latex/group__magnetic__based.aux  |    44 +
 doc/doxygen/latex/group__magnetic__based.tex  |    26 +
 .../latex/group__matrix__decompositions.aux   |    44 +
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 .../latex/group__non__linear__algebra.aux     |    44 +
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 doc/doxygen/latex/group__optimization.aux     |    44 +
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 doc/doxygen/latex/group__pseudo__inverse.aux  |    44 +
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 doc/doxygen/latex/group__utils.tex            |    28 +
 doc/doxygen/latex/householder__test_8c.tex    |    27 +
 doc/doxygen/latex/householder__test_8h.tex    |    23 +
 ...e__mobile__computing__non__lin__alg_8c.tex |   155 +
 doc/doxygen/latex/index.log                   |  4208 +
 doc/doxygen/latex/index.tex                   |    86 +
 doc/doxygen/latex/index.tex.bak               |    92 +
 doc/doxygen/latex/levenberg__marquardt_8c.tex |   181 +
 doc/doxygen/latex/levenberg__marquardt_8h.tex |   124 +
 doc/doxygen/latex/loc__gauss__newton_8c.tex   |    83 +
 doc/doxygen/latex/loc__gauss__newton_8h.tex   |    84 +
 .../latex/loc__levenberg__marquardt_8c.tex    |   222 +
 .../latex/loc__levenberg__marquardt_8h.tex    |   221 +
 doc/doxygen/latex/longtable_doxygen.sty       |   448 +
 doc/doxygen/latex/lu__decomp_8c.tex           |    70 +
 doc/doxygen/latex/lu__decomp_8h.tex           |    67 +
 doc/doxygen/latex/lu__decomp__test_8c.tex     |    26 +
 doc/doxygen/latex/lu__decomp__test_8h.tex     |    23 +
 doc/doxygen/latex/magnetic__based__fi_8c.tex  |    66 +
 doc/doxygen/latex/magnetic__based__fi_8h.tex  |    65 +
 .../latex/magnetic__based__jacobian_8c.tex    |   171 +
 .../latex/magnetic__based__jacobian_8h.tex    |   164 +
 .../latex/magnetic__based__position_8c.tex    |   262 +
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 .../latex/magnetic__based__test_8c.tex        |    31 +
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 doc/doxygen/latex/make.bat                    |    31 +
 doc/doxygen/latex/matrix_8c.tex               |  1600 +
 doc/doxygen/latex/matrix_8h.tex               |  1644 +
 doc/doxygen/latex/matrix__test_8c.tex         |    35 +
 doc/doxygen/latex/matrix__test_8h.tex         |    29 +
 .../latex/modified__gauss__newton_8c.tex      |    87 +
 .../latex/modified__gauss__newton_8h.tex      |    82 +
 doc/doxygen/latex/modules.tex                 |    27 +
 .../latex/moore__penrose__pinv__test_8c.tex   |    27 +
 .../latex/moore__penrose__pinv__test_8h.tex   |    23 +
 .../moore__penrose__pseudo__inverse_8c.tex    |   110 +
 .../moore__penrose__pseudo__inverse_8h.tex    |   126 +
 ...ipath__algo__own__norm__distr__test_8c.tex |    37 +
 ...ipath__algo__own__norm__distr__test_8h.tex |    25 +
 ...tipath__dist__detection__mitigation_8c.tex |   292 +
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 doc/doxygen/latex/newton__raphson_8c.tex      |    75 +
 doc/doxygen/latex/newton__raphson_8h.tex      |    75 +
 .../latex/norm__dist__rnd__generator_8c.tex   |    91 +
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 doc/doxygen/latex/optimization__test_8c.tex   |   272 +
 doc/doxygen/latex/optimization__test_8h.tex   |    66 +
 .../latex/pos__algos__common__test_8c.tex     |    27 +
 .../latex/pos__algos__common__test_8h.tex     |    23 +
 .../latex/position__optimization__test_8c.tex |    35 +
 .../latex/position__optimization__test_8h.tex |    27 +
 doc/doxygen/latex/pseudo__inverse_8h.tex      |    61 +
 doc/doxygen/latex/qr__common_8c.tex           |    97 +
 doc/doxygen/latex/qr__common_8h.tex           |   103 +
 doc/doxygen/latex/qr__givens_8c.tex           |   110 +
 doc/doxygen/latex/qr__givens_8h.tex           |   107 +
 doc/doxygen/latex/qr__householder_8c.tex      |    75 +
 doc/doxygen/latex/qr__householder_8h.tex      |    72 +
 doc/doxygen/latex/qr__pinv__test_8c.tex       |    27 +
 doc/doxygen/latex/qr__pinv__test_8h.tex       |    23 +
 doc/doxygen/latex/qr__pseudo__inverse_8c.tex  |    70 +
 doc/doxygen/latex/qr__pseudo__inverse_8h.tex  |    66 +
 doc/doxygen/latex/refman.aux                  |  2535 +
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 doc/doxygen/latex/refman.tex                  |   319 +
 doc/doxygen/latex/refman.toc                  |   669 +
 doc/doxygen/latex/shell__sort_8c.tex          |    80 +
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 .../latex/soft_architecture_01_09_2019.pdf    |   Bin 0 -> 75037 bytes
 .../latex/soft_architecture_01_09_2019.svg    |  2003 +
 doc/doxygen/latex/solve_8c.tex                |   206 +
 doc/doxygen/latex/solve_8h.tex                |   199 +
 doc/doxygen/latex/solve__test_8c.tex          |    30 +
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 doc/doxygen/latex/structmatrix__dim__t.tex    |    32 +
 doc/doxygen/latex/svd_8c.tex                  |   266 +
 doc/doxygen/latex/svd_8h.tex                  |   276 +
 doc/doxygen/latex/svd__test_8c.tex            |    28 +
 doc/doxygen/latex/svd__test_8h.tex            |    23 +
 doc/doxygen/latex/tabu_doxygen.sty            |  2557 +
 doc/doxygen/latex/trilateration_8c.tex        |   362 +
 doc/doxygen/latex/trilateration_8h.tex        |   358 +
 doc/doxygen/latex/utils_8c.tex                |   375 +
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 doc/doxygen/latex/vector_8c.tex               |   798 +
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 156 files changed, 115620 insertions(+)
 create mode 100644 doc/doxygen/latex/DOP_8c.tex
 create mode 100644 doc/doxygen/latex/DOP_8h.tex
 create mode 100644 doc/doxygen/latex/Makefile
 create mode 100644 doc/doxygen/latex/RcdMathLib_refman.pdf
 create mode 100644 doc/doxygen/latex/annotated.tex
 create mode 100644 doc/doxygen/latex/combinatorics_8c.tex
 create mode 100644 doc/doxygen/latex/combinatorics_8h.tex
 create mode 100644 doc/doxygen/latex/creating-an-application.tex
 create mode 100644 doc/doxygen/latex/creating-modules.tex
 create mode 100644 doc/doxygen/latex/damped__newton__raphson_8c.log
 create mode 100644 doc/doxygen/latex/damped__newton__raphson_8c.tex
 create mode 100644 doc/doxygen/latex/damped__newton__raphson_8h.tex
 create mode 100644 doc/doxygen/latex/dist__based__fi_8c.tex
 create mode 100644 doc/doxygen/latex/dist__based__fi_8h.tex
 create mode 100644 doc/doxygen/latex/dist__based__jacobian_8c.tex
 create mode 100644 doc/doxygen/latex/dist__based__jacobian_8h.tex
 create mode 100644 doc/doxygen/latex/dist__based__position_8c.tex
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 create mode 100644 doc/doxygen/latex/fsolve_8h.tex
 create mode 100644 doc/doxygen/latex/fsolve__test_8c.tex
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 create mode 100644 doc/doxygen/latex/givens__test_8h.tex
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 create mode 100644 doc/doxygen/latex/norm__dist__rnd__generator_8h.tex
 create mode 100644 doc/doxygen/latex/optimization__test_8c.tex
 create mode 100644 doc/doxygen/latex/optimization__test_8h.tex
 create mode 100644 doc/doxygen/latex/pos__algos__common__test_8c.tex
 create mode 100644 doc/doxygen/latex/pos__algos__common__test_8h.tex
 create mode 100644 doc/doxygen/latex/position__optimization__test_8c.tex
 create mode 100644 doc/doxygen/latex/position__optimization__test_8h.tex
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 create mode 100644 doc/doxygen/latex/qr__pinv__test_8c.tex
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 create mode 100644 doc/doxygen/latex/solve_8c.tex
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diff --git a/doc/doxygen/latex/DOP_8c.tex b/doc/doxygen/latex/DOP_8c.tex
new file mode 100644
index 0000000..4981618
--- /dev/null
+++ b/doc/doxygen/latex/DOP_8c.tex
@@ -0,0 +1,63 @@
+\hypertarget{DOP_8c}{}\doxysection{D\+O\+P.\+c File Reference}
+\label{DOP_8c}\index{DOP.c@{DOP.c}}
+
+
+Compute the Position Dilution of Precision (P\+D\+OP).  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}D\+O\+P.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{DOP_8c_a8b878ff6d73e8da6fbc3ae40f01b1ce4}{get\+\_\+\+P\+D\+OP}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+\+Matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} true\+\_\+pos\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Position Dilution of Precision (P\+D\+OP). \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Compute the Position Dilution of Precision (P\+D\+OP). 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{DOP_8c_a8b878ff6d73e8da6fbc3ae40f01b1ce4}\label{DOP_8c_a8b878ff6d73e8da6fbc3ae40f01b1ce4}} 
+\index{DOP.c@{DOP.c}!get\_PDOP@{get\_PDOP}}
+\index{get\_PDOP@{get\_PDOP}!DOP.c@{DOP.c}}
+\doxysubsubsection{\texorpdfstring{get\_PDOP()}{get\_PDOP()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} get\+\_\+\+P\+D\+OP (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+\+Matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{true\+\_\+pos\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Position Dilution of Precision (P\+D\+OP). 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+\+Matrix} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em true\+\_\+pos} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the P\+D\+O\+P-\/value. 
+\end{DoxyReturn}
+
+
+Definition at line 30 of file D\+O\+P.\+c.
+
+
+
+References matrix\+\_\+mul(), matrix\+\_\+t, matrix\+\_\+transpose(), and moore\+\_\+penrose\+\_\+get\+\_\+pinv().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and pos\+\_\+algos\+\_\+common\+\_\+test().
+
diff --git a/doc/doxygen/latex/DOP_8h.tex b/doc/doxygen/latex/DOP_8h.tex
new file mode 100644
index 0000000..2bd1657
--- /dev/null
+++ b/doc/doxygen/latex/DOP_8h.tex
@@ -0,0 +1,61 @@
+\hypertarget{DOP_8h}{}\doxysection{D\+O\+P.\+h File Reference}
+\label{DOP_8h}\index{DOP.h@{DOP.h}}
+
+
+Compute the Position Dilution of Precision (P\+D\+OP).  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{DOP_8h_a8b878ff6d73e8da6fbc3ae40f01b1ce4}{get\+\_\+\+P\+D\+OP}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+\+Matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} true\+\_\+pos\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Position Dilution of Precision (P\+D\+OP). \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Compute the Position Dilution of Precision (P\+D\+OP). 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{DOP_8h_a8b878ff6d73e8da6fbc3ae40f01b1ce4}\label{DOP_8h_a8b878ff6d73e8da6fbc3ae40f01b1ce4}} 
+\index{DOP.h@{DOP.h}!get\_PDOP@{get\_PDOP}}
+\index{get\_PDOP@{get\_PDOP}!DOP.h@{DOP.h}}
+\doxysubsubsection{\texorpdfstring{get\_PDOP()}{get\_PDOP()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} get\+\_\+\+P\+D\+OP (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+\+Matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{true\+\_\+pos\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Position Dilution of Precision (P\+D\+OP). 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+\+Matrix} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em true\+\_\+pos} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the P\+D\+O\+P-\/value. 
+\end{DoxyReturn}
+
+
+Definition at line 30 of file D\+O\+P.\+c.
+
+
+
+References matrix\+\_\+mul(), matrix\+\_\+t, matrix\+\_\+transpose(), and moore\+\_\+penrose\+\_\+get\+\_\+pinv().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and pos\+\_\+algos\+\_\+common\+\_\+test().
+
diff --git a/doc/doxygen/latex/Makefile b/doc/doxygen/latex/Makefile
new file mode 100644
index 0000000..877c9cc
--- /dev/null
+++ b/doc/doxygen/latex/Makefile
@@ -0,0 +1,23 @@
+LATEX_CMD=pdflatex
+
+all: refman.pdf
+
+pdf: refman.pdf
+
+refman.pdf: clean refman.tex
+	$(LATEX_CMD) refman
+	makeindex refman.idx
+	$(LATEX_CMD) refman
+	latex_count=8 ; \
+	while egrep -s 'Rerun (LaTeX|to get cross-references right)' refman.log && [ $$latex_count -gt 0 ] ;\
+	    do \
+	      echo "Rerunning latex...." ;\
+	      $(LATEX_CMD) refman ;\
+	      latex_count=`expr $$latex_count - 1` ;\
+	    done
+	makeindex refman.idx
+	$(LATEX_CMD) refman
+
+
+clean:
+	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl refman.pdf
diff --git a/doc/doxygen/latex/RcdMathLib_refman.pdf b/doc/doxygen/latex/RcdMathLib_refman.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d699e9a0a68d0162328c4735b77fd0a76b2c935
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diff --git a/doc/doxygen/latex/annotated.tex b/doc/doxygen/latex/annotated.tex
new file mode 100644
index 0000000..d7213db
--- /dev/null
+++ b/doc/doxygen/latex/annotated.tex
@@ -0,0 +1,4 @@
+\doxysection{Data Structures}
+Here are the data structures with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} \\*A structure to define the row and column number of a matrix }{\pageref{structmatrix__dim__t}}{}
+\end{DoxyCompactList}
diff --git a/doc/doxygen/latex/combinatorics_8c.tex b/doc/doxygen/latex/combinatorics_8c.tex
new file mode 100644
index 0000000..b0a85ef
--- /dev/null
+++ b/doc/doxygen/latex/combinatorics_8c.tex
@@ -0,0 +1,91 @@
+\hypertarget{combinatorics_8c}{}\doxysection{combinatorics.\+c File Reference}
+\label{combinatorics_8c}\index{combinatorics.c@{combinatorics.c}}
+
+
+Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$stdlib.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}combinatorics.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{combinatorics_8c_a1bcaeef00a7027e9b9b7694da2efd1b9}{combinatorics\+\_\+init}} (uint8\+\_\+t n, uint8\+\_\+t k, uint8\+\_\+t comb\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Initialize the combinations generator. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{combinatorics_8c_ae500ce949afe79089e8146eb1fb5cbb0}{combinatorics\+\_\+get\+\_\+next\+\_\+without\+\_\+rep}} (uint8\+\_\+t n, uint8\+\_\+t k, uint8\+\_\+t comb\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Generate the next combination. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{combinatorics_8c_ae500ce949afe79089e8146eb1fb5cbb0}\label{combinatorics_8c_ae500ce949afe79089e8146eb1fb5cbb0}} 
+\index{combinatorics.c@{combinatorics.c}!combinatorics\_get\_next\_without\_rep@{combinatorics\_get\_next\_without\_rep}}
+\index{combinatorics\_get\_next\_without\_rep@{combinatorics\_get\_next\_without\_rep}!combinatorics.c@{combinatorics.c}}
+\doxysubsubsection{\texorpdfstring{combinatorics\_get\_next\_without\_rep()}{combinatorics\_get\_next\_without\_rep()}}
+{\footnotesize\ttfamily uint8\+\_\+t combinatorics\+\_\+get\+\_\+next\+\_\+without\+\_\+rep (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{comb\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Generate the next combination. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & size of the set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & size of the sub-\/set. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em comb\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the combination set.\\
+\hline
+\end{DoxyParams}
+return \mbox{\hyperlink{combinatorics_8h_a16396d8294127e6ea7dbbdaa3b8132e7}{C\+O\+M\+B\+I\+\_\+\+E\+ND}}, if the last combination is generated. return \mbox{\hyperlink{combinatorics_8h_af92c32bbf9a391a055cb472b6f43c498}{C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS}}, if successful. 
+
+Definition at line 48 of file combinatorics.\+c.
+
+
+
+References C\+O\+M\+B\+I\+\_\+\+E\+ND, and C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{combinatorics_8c_a1bcaeef00a7027e9b9b7694da2efd1b9}\label{combinatorics_8c_a1bcaeef00a7027e9b9b7694da2efd1b9}} 
+\index{combinatorics.c@{combinatorics.c}!combinatorics\_init@{combinatorics\_init}}
+\index{combinatorics\_init@{combinatorics\_init}!combinatorics.c@{combinatorics.c}}
+\doxysubsubsection{\texorpdfstring{combinatorics\_init()}{combinatorics\_init()}}
+{\footnotesize\ttfamily uint8\+\_\+t combinatorics\+\_\+init (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{comb\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Initialize the combinations generator. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & size of the set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & size of the sub-\/set. \\
+\hline
+\mbox{\texttt{ out}}  & {\em comb\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the combination set.\\
+\hline
+\end{DoxyParams}
+return \mbox{\hyperlink{combinatorics_8h_a1249f9e7a382225c0889b8ef630d6509}{C\+O\+M\+B\+I\+\_\+\+E\+R\+R\+OR}}, if k $>$ n. return \mbox{\hyperlink{combinatorics_8h_a744ae7aa581aa908643d95d470394872}{C\+O\+M\+B\+I\+\_\+\+E\+M\+P\+TY}}, if k =0. return \mbox{\hyperlink{combinatorics_8h_af92c32bbf9a391a055cb472b6f43c498}{C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS}}, if successful. 
+
+Definition at line 29 of file combinatorics.\+c.
+
+
+
+References C\+O\+M\+B\+I\+\_\+\+E\+M\+P\+TY, C\+O\+M\+B\+I\+\_\+\+E\+R\+R\+OR, and C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
diff --git a/doc/doxygen/latex/combinatorics_8h.tex b/doc/doxygen/latex/combinatorics_8h.tex
new file mode 100644
index 0000000..dcdb0e3
--- /dev/null
+++ b/doc/doxygen/latex/combinatorics_8h.tex
@@ -0,0 +1,103 @@
+\hypertarget{combinatorics_8h}{}\doxysection{combinatorics.\+h File Reference}
+\label{combinatorics_8h}\index{combinatorics.h@{combinatorics.h}}
+
+
+Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order.  
+
+
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{combinatorics_8h_a1249f9e7a382225c0889b8ef630d6509}\label{combinatorics_8h_a1249f9e7a382225c0889b8ef630d6509}} 
+\#define \mbox{\hyperlink{combinatorics_8h_a1249f9e7a382225c0889b8ef630d6509}{C\+O\+M\+B\+I\+\_\+\+E\+R\+R\+OR}}~-\/1
+\begin{DoxyCompactList}\small\item\em Case of an error. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{combinatorics_8h_a744ae7aa581aa908643d95d470394872}\label{combinatorics_8h_a744ae7aa581aa908643d95d470394872}} 
+\#define \mbox{\hyperlink{combinatorics_8h_a744ae7aa581aa908643d95d470394872}{C\+O\+M\+B\+I\+\_\+\+E\+M\+P\+TY}}~0
+\begin{DoxyCompactList}\small\item\em Case of an empty combination set. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{combinatorics_8h_af92c32bbf9a391a055cb472b6f43c498}\label{combinatorics_8h_af92c32bbf9a391a055cb472b6f43c498}} 
+\#define \mbox{\hyperlink{combinatorics_8h_af92c32bbf9a391a055cb472b6f43c498}{C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS}}~1
+\begin{DoxyCompactList}\small\item\em Case of successfully calculated combination set. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{combinatorics_8h_a16396d8294127e6ea7dbbdaa3b8132e7}\label{combinatorics_8h_a16396d8294127e6ea7dbbdaa3b8132e7}} 
+\#define \mbox{\hyperlink{combinatorics_8h_a16396d8294127e6ea7dbbdaa3b8132e7}{C\+O\+M\+B\+I\+\_\+\+E\+ND}}~2
+\begin{DoxyCompactList}\small\item\em Case of completion of calculating combination sets. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{combinatorics_8h_a1bcaeef00a7027e9b9b7694da2efd1b9}{combinatorics\+\_\+init}} (uint8\+\_\+t n, uint8\+\_\+t k, uint8\+\_\+t comb\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Initialize the combinations generator. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{combinatorics_8h_ae500ce949afe79089e8146eb1fb5cbb0}{combinatorics\+\_\+get\+\_\+next\+\_\+without\+\_\+rep}} (uint8\+\_\+t n, uint8\+\_\+t k, uint8\+\_\+t comb\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Generate the next combination. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{combinatorics_8h_ae500ce949afe79089e8146eb1fb5cbb0}\label{combinatorics_8h_ae500ce949afe79089e8146eb1fb5cbb0}} 
+\index{combinatorics.h@{combinatorics.h}!combinatorics\_get\_next\_without\_rep@{combinatorics\_get\_next\_without\_rep}}
+\index{combinatorics\_get\_next\_without\_rep@{combinatorics\_get\_next\_without\_rep}!combinatorics.h@{combinatorics.h}}
+\doxysubsubsection{\texorpdfstring{combinatorics\_get\_next\_without\_rep()}{combinatorics\_get\_next\_without\_rep()}}
+{\footnotesize\ttfamily uint8\+\_\+t combinatorics\+\_\+get\+\_\+next\+\_\+without\+\_\+rep (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{comb\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Generate the next combination. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & size of the set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & size of the sub-\/set. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em comb\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the combination set.\\
+\hline
+\end{DoxyParams}
+return \mbox{\hyperlink{combinatorics_8h_a16396d8294127e6ea7dbbdaa3b8132e7}{C\+O\+M\+B\+I\+\_\+\+E\+ND}}, if the last combination is generated. return \mbox{\hyperlink{combinatorics_8h_af92c32bbf9a391a055cb472b6f43c498}{C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS}}, if successful. 
+
+Definition at line 48 of file combinatorics.\+c.
+
+
+
+References C\+O\+M\+B\+I\+\_\+\+E\+ND, and C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{combinatorics_8h_a1bcaeef00a7027e9b9b7694da2efd1b9}\label{combinatorics_8h_a1bcaeef00a7027e9b9b7694da2efd1b9}} 
+\index{combinatorics.h@{combinatorics.h}!combinatorics\_init@{combinatorics\_init}}
+\index{combinatorics\_init@{combinatorics\_init}!combinatorics.h@{combinatorics.h}}
+\doxysubsubsection{\texorpdfstring{combinatorics\_init()}{combinatorics\_init()}}
+{\footnotesize\ttfamily uint8\+\_\+t combinatorics\+\_\+init (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{comb\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Initialize the combinations generator. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & size of the set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & size of the sub-\/set. \\
+\hline
+\mbox{\texttt{ out}}  & {\em comb\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the combination set.\\
+\hline
+\end{DoxyParams}
+return \mbox{\hyperlink{combinatorics_8h_a1249f9e7a382225c0889b8ef630d6509}{C\+O\+M\+B\+I\+\_\+\+E\+R\+R\+OR}}, if k $>$ n. return \mbox{\hyperlink{combinatorics_8h_a744ae7aa581aa908643d95d470394872}{C\+O\+M\+B\+I\+\_\+\+E\+M\+P\+TY}}, if k =0. return \mbox{\hyperlink{combinatorics_8h_af92c32bbf9a391a055cb472b6f43c498}{C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS}}, if successful. 
+
+Definition at line 29 of file combinatorics.\+c.
+
+
+
+References C\+O\+M\+B\+I\+\_\+\+E\+M\+P\+TY, C\+O\+M\+B\+I\+\_\+\+E\+R\+R\+OR, and C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
diff --git a/doc/doxygen/latex/creating-an-application.tex b/doc/doxygen/latex/creating-an-application.tex
new file mode 100644
index 0000000..4cc2d90
--- /dev/null
+++ b/doc/doxygen/latex/creating-an-application.tex
@@ -0,0 +1,77 @@
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi
+\end{DoxyAuthor}
+An application can be created for full-\/fledged or resource-\/limited devices.\hypertarget{creating-an-application_creating-an-application-full-fledge}{}\doxysection{Creating an application for full-\/fledged devices}\label{creating-an-application_creating-an-application-full-fledge}
+We recommend to use the \href{https://www.eclipse.org/}{\texttt{ Eclipse I\+DE}} for C/\+C++ Developers for creating own application. The simplest way to write your own application, is to put your $\ast$.c and $\ast$.h files under the {\ttfamily src} directory. Another way is to create a directory containing the multiple C file(s) with your source code. The header files can be imported in the Eclipse I\+DE by opening Project-\/$>$Properties and selecting \textquotesingle{}\textquotesingle{}C/\+C++ General-\/$>$Paths and Symbols-\/$>$Languages-\/$>$G\+NU C\textquotesingle{}\textquotesingle{} from the Selection Wizard. Click the \textquotesingle{}\textquotesingle{}Add..\textquotesingle{}\textquotesingle{} button to browse to the header-\/directory and the select the \textquotesingle{}\textquotesingle{}Apply\textquotesingle{}\textquotesingle{} and \textquotesingle{}\textquotesingle{}OK\textquotesingle{}\textquotesingle{} buttons. The users can be oriented to the main.\+c and the examples under the src-\/directory.\hypertarget{creating-an-application_creating-an-application-res-lim}{}\doxysection{Creating an application for resource-\/limited devices}\label{creating-an-application_creating-an-application-res-lim}
+To create your own application for a resource limited device you need to create a directory containing one or multiple C file(s) with your source code and a Makefile. An example Makefile is available in the {\ttfamily src} folder of the \href{https://git.imp.fu-berlin.de/zkasmi/my_lib_full_fledged_devices/tree/master/RcdMathLib_app}{\texttt{ Rcd\+Math\+Lib repository}}.\hypertarget{creating-an-application_the-main-function}{}\doxysection{The main function}\label{creating-an-application_the-main-function}
+R\+I\+OT starts two threads the idle and main threads after the board is initialized. The idle thread has the lowest priority while the main thread has a priority that is in the middle between the lowest and the highest available priorities. The main thread is the first that runs and calls the {\ttfamily main()} function. This function needs to be defined in the source code of each application (typically located in the {\ttfamily main.\+c} file).
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include <stdio.h>}}
+\DoxyCodeLine{}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include "\mbox{\hyperlink{matrix__test_8h}{matrix\_test.h}}"}}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include "\mbox{\hyperlink{vector__test_8h}{vector\_test.h}}"}}
+\DoxyCodeLine{}
+\DoxyCodeLine{\textcolor{keywordtype}{int} main(\textcolor{keywordtype}{void})}
+\DoxyCodeLine{\{}
+\DoxyCodeLine{    puts(\textcolor{stringliteral}{"RcdMathLib Application!"});}
+\DoxyCodeLine{    \textcolor{comment}{// Test the basic operations module;}}
+\DoxyCodeLine{    \mbox{\hyperlink{matrix__test_8h_aad3d0f4acb79e8a9b61eda59dc3a12b2}{matrix\_test}}();}
+\DoxyCodeLine{    \mbox{\hyperlink{vector__test_8h_ab0aed13072bc11b97766634c625d6f21}{vector\_test}}();}
+\DoxyCodeLine{    }
+\DoxyCodeLine{    \textcolor{keywordflow}{return} EXIT\_SUCCESS;}
+\DoxyCodeLine{\}}
+\end{DoxyCode}
+
+
+The above C code shows an application testing the basic operations sub-\/modules. This application run operations of the vector and matrix sub-\/modules.\hypertarget{creating-an-application_the-applications-makefile}{}\doxysection{The application\textquotesingle{}s Makefile}\label{creating-an-application_the-applications-makefile}
+\hypertarget{creating-an-application_the-minimal-makefile}{}\doxysubsection{The minimal Makefile}\label{creating-an-application_the-minimal-makefile}
+At minimum the Makefile of an application (see \mbox{\hyperlink{getting-started}{Getting started}}) needs to define the following macros\+:
+\begin{DoxyItemize}
+\item {\ttfamily A\+P\+P\+L\+I\+C\+A\+T\+I\+ON}\+: contains the name of your application
+\item {\ttfamily R\+I\+O\+T\+B\+A\+SE}\+: specifies the path to your copy of the R\+I\+OT repository (note, the {\ttfamily } macro can be used to give a relative path)
+\item {\ttfamily R\+C\+D\+M\+A\+T\+H\+L\+IB}\+: specifies the path to the copy of the Rcd\+Math\+Lib repository (note, the {\ttfamily } macro can be used to give a relative path)
+\item {\ttfamily U\+S\+E\+M\+O\+D\+U\+LE}\+: specifies the module of the Rcd\+Math\+Lib that you may want to use
+\end{DoxyItemize}
+
+The {\ttfamily B\+O\+A\+RD} macro is also required and recommended to be set to {\ttfamily native} by default, but is recommended to be overridable with the {\ttfamily ?=} operator. Additionally, it is required to include the {\ttfamily Makefile.\+include} from the Rcd\+Math\+Lib and from the {\ttfamily R\+I\+O\+T\+B\+A\+SE}.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\# Set the name of your application:}
+\DoxyCodeLine{APPLICATION = foobar}
+\DoxyCodeLine{}
+\DoxyCodeLine{\# If no BOARD is found in the environment, use this default:}
+\DoxyCodeLine{BOARD ?= native}
+\DoxyCodeLine{}
+\DoxyCodeLine{\# This has to be the absolute path to the RcdMathLib base directory:}
+\DoxyCodeLine{RCDMATHLIB ?= \$(CURDIR)/../RcdMathLib}
+\DoxyCodeLine{}
+\DoxyCodeLine{\# This has to be the absolute path to the RIOT base directory:}
+\DoxyCodeLine{RIOTBASE ?= \$(CURDIR)/../../RIOT}
+\DoxyCodeLine{}
+\DoxyCodeLine{}
+\DoxyCodeLine{include \$(RCDMATHLIB)/Makefile.include}
+\DoxyCodeLine{include \$(RIOTBASE)/Makefile.include}
+\end{DoxyCode}
+\hypertarget{creating-an-application_including-modules}{}\doxysubsection{Including modules}\label{creating-an-application_including-modules}
+The modules of the Rcd\+Math\+Lib as well as of the Rcd\+Math\+Lib can be included. In order to use additional modules, such as a particular driver or a system library, the modules\textquotesingle{} names must be appended to the U\+S\+E\+M\+O\+D\+U\+LE variable. For example, to build an application using the S\+H\+T11 temperature sensor and U\+D\+P/\+I\+Pv6 functionalities, the Makefile needs to contain the following lines\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{USEMODULE += sht11}
+\DoxyCodeLine{USEMODULE += gnrc\_ipv6\_default}
+\DoxyCodeLine{USEMODULE += gnrc\_udp}
+\end{DoxyCode}
+
+
+For example, to create an application using the matrix decompositions, the pseudo-\/inverse, and solving linear equations sub-\/modules, the Makefile must comprise the following lines\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{USEMODULE += matrix\_decompositions}
+\DoxyCodeLine{USEMODULE += pseudo\_inverse}
+\DoxyCodeLine{USEMODULE += utilities}
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/doc/doxygen/latex/creating-modules.tex b/doc/doxygen/latex/creating-modules.tex
new file mode 100644
index 0000000..51e25bc
--- /dev/null
+++ b/doc/doxygen/latex/creating-modules.tex
@@ -0,0 +1,51 @@
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi
+\end{DoxyAuthor}
+Well-\/defined units of code in the Rcd\+Math\+Lib that provide a set of features are encapsulated in a module. Rcd\+Math\+Lib is module-\/based and composed of the following main modules\+:
+
+
+\begin{DoxyItemize}
+\item Linear algebra module
+\item Non-\/\+Linear algebra module
+\item Localization module
+\end{DoxyItemize}
+
+Each main module includes sub-\/modules, for more details see \mbox{\hyperlink{index_structure}{The structure of the Rcd\+Math\+Lib}}.
+
+\begin{DoxyNote}{Note}
+The following chapters concerning only resource-\/limited devices.
+\end{DoxyNote}
+\hypertarget{creating-modules_the-general-structure}{}\doxysection{The general structure}\label{creating-modules_the-general-structure}
+Modules are directories containing source and header files as well as a Makefile. Furthermore, their A\+PI can be defined in one or more header files, residing in the include path of their super-\/module.
+
+For example, the matrix sub-\/module is implemented in the \mbox{\hyperlink{group__basic__operations}{B\+A\+S\+I\+C\+\_\+\+O\+P\+E\+R\+A\+T\+I\+O\+NS}} sub-\/module, in the {\ttfamily linear\+\_\+algebra/basic\+\_\+operations} directory. Its A\+PI is defined in {\ttfamily linear\+\_\+algebra/basic\+\_\+operations/matrix.\+h}.
+
+A module\textquotesingle{}s Makefile just needs to include {\ttfamily Makefile.\+base} in the R\+I\+OT repository as well as {\ttfamily Makefile.\+base} and {\ttfamily Makefile.\+include} in the Rcd\+Math\+Lib repository\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{include \$(RIOTBASE)/Makefile.base}
+\DoxyCodeLine{include \$(RCDMATHLIB)/linear\_algebra/matrix\_decompositions/Makefile.include}
+\DoxyCodeLine{include \$(RCDMATHLIB)/linear\_algebra/matrix\_decompositions/Makefile.dep }
+\end{DoxyCode}
+
+
+The {\ttfamily Makefile.\+base} and {\ttfamily Makefile.\+include} macros in the example above are includes for the linear algebra module.
+
+If your module\textquotesingle{}s name differs from the name of the directory it resides in you need to set the {\ttfamily M\+O\+D\+U\+LE} macro in addition.
+
+The {\ttfamily Makefile.\+dep} serves to define dependencies and the {\ttfamily Makefile.\+include} to append target specific information to variables like I\+N\+C\+L\+U\+D\+ES. Modules can be used by adding their name to the {\ttfamily U\+S\+E\+M\+O\+D\+U\+LE} macro of the application\textquotesingle{}s Makefile.\hypertarget{creating-modules_module-dependencies}{}\doxysection{Module dependencies}\label{creating-modules_module-dependencies}
+The module may depend on other modules to minimize code duplication. These dependencies are defined in {\ttfamily Makefile.\+dep} with the following syntax\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{ifneq (,\$(filter your\_module,\$(USEMODULE))) \# if module in USEMODULE}
+\DoxyCodeLine{  USEMODULE += dep1                         \# add dependencies to USEMODULE}
+\DoxyCodeLine{  USEMODULE += dep2}
+\DoxyCodeLine{endif}
+\end{DoxyCode}
+
+
+\begin{DoxyNote}{Note}
+{\ttfamily Makefile.\+dep} is processed only once therefore, the dependency block for a module must be added {\itshape before} dependencies pull in their dependencies. 
+\end{DoxyNote}
diff --git a/doc/doxygen/latex/damped__newton__raphson_8c.log b/doc/doxygen/latex/damped__newton__raphson_8c.log
new file mode 100644
index 0000000..650dedf
--- /dev/null
+++ b/doc/doxygen/latex/damped__newton__raphson_8c.log
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+This is pdfTeX, Version 3.14159265-2.6-1.40.19 (MiKTeX 2.9.6730 64-bit) (preloaded format=pdflatex 2018.7.26)  13 MAR 2020 11:42
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+! Missing { inserted.
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+                                 raphson_8c}{}\doxysection{F\+:/temp/publish...
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+
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+
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+                                                  :/temp/publish/\+Rcd\+Math...
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+
+! Undefined control sequence.
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+                                                  Rcd\+Math\+Lib\+\_\+full\+...
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+
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+
+! Undefined control sequence.
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+                                                  Lib\+\_\+full\+\_\+fledged...
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+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...ection{F\+:/temp/publish/\+Rcd\+Math\+Lib\+
+                                                  \_\+full\+\_\+fledged\+\_\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...on{F\+:/temp/publish/\+Rcd\+Math\+Lib\+\_\+
+                                                  full\+\_\+fledged\+\_\+dev...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...:/temp/publish/\+Rcd\+Math\+Lib\+\_\+full\+
+                                                  \_\+fledged\+\_\+devices\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...mp/publish/\+Rcd\+Math\+Lib\+\_\+full\+\_\+
+                                                  fledged\+\_\+devices\+\_\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...h/\+Rcd\+Math\+Lib\+\_\+full\+\_\+fledged\+
+                                                  \_\+devices\+\_\+tmp/\+Rcd...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...Rcd\+Math\+Lib\+\_\+full\+\_\+fledged\+\_\+
+                                                  devices\+\_\+tmp/\+Rcd\+Ma...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...\+Lib\+\_\+full\+\_\+fledged\+\_\+devices\+
+                                                  \_\+tmp/\+Rcd\+Math\+Lib\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...b\+\_\+full\+\_\+fledged\+\_\+devices\+\_\+
+                                                  tmp/\+Rcd\+Math\+Lib\+\_\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...+full\+\_\+fledged\+\_\+devices\+\_\+tmp/\+
+                                                  Rcd\+Math\+Lib\+\_\+app/sr...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...\+\_\+fledged\+\_\+devices\+\_\+tmp/\+Rcd\+
+                                                  Math\+Lib\+\_\+app/src/\+R...
+The control sequence at the end of the top line
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+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...fledged\+\_\+devices\+\_\+tmp/\+Rcd\+Math\+
+                                                  Lib\+\_\+app/src/\+Rcd\+Ma...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...ed\+\_\+devices\+\_\+tmp/\+Rcd\+Math\+Lib\+
+                                                  \_\+app/src/\+Rcd\+Math\+L...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...\_\+devices\+\_\+tmp/\+Rcd\+Math\+Lib\+\_\+
+                                                  app/src/\+Rcd\+Math\+Lib/n...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...s\+\_\+tmp/\+Rcd\+Math\+Lib\+\_\+app/src/\+
+                                                  Rcd\+Math\+Lib/non\+\_\+li...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...\+tmp/\+Rcd\+Math\+Lib\+\_\+app/src/\+Rcd\+
+                                                  Math\+Lib/non\+\_\+linear\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...\+Rcd\+Math\+Lib\+\_\+app/src/\+Rcd\+Math\+
+                                                  Lib/non\+\_\+linear\+\_\+a...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...th\+Lib\+\_\+app/src/\+Rcd\+Math\+Lib/non\+
+                                                  \_\+linear\+\_\+algebra/so...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...Lib\+\_\+app/src/\+Rcd\+Math\+Lib/non\+\_\+
+                                                  linear\+\_\+algebra/solve\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...+app/src/\+Rcd\+Math\+Lib/non\+\_\+linear\+
+                                                  \_\+algebra/solve\+\_\+non...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 .../src/\+Rcd\+Math\+Lib/non\+\_\+linear\+\_\+
+                                                  algebra/solve\+\_\+non\+\_...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...h\+Lib/non\+\_\+linear\+\_\+algebra/solve\+
+                                                  \_\+non\+\_\+linear\+\_\+e...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...ib/non\+\_\+linear\+\_\+algebra/solve\+\_\+
+                                                  non\+\_\+linear\+\_\+equat...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...n\+\_\+linear\+\_\+algebra/solve\+\_\+non\+
+                                                  \_\+linear\+\_\+equations/...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ..._\+linear\+\_\+algebra/solve\+\_\+non\+\_\+
+                                                  linear\+\_\+equations/damp...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...r\+\_\+algebra/solve\+\_\+non\+\_\+linear\+
+                                                  \_\+equations/damped\+\_\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ..._\+algebra/solve\+\_\+non\+\_\+linear\+\_\+
+                                                  equations/damped\+\_\+newt...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...\_\+non\+\_\+linear\+\_\+equations/damped\+
+                                                  \_\+newton\+\_\+raphson.c ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...non\+\_\+linear\+\_\+equations/damped\+\_\+
+                                                  newton\+\_\+raphson.c File...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...+linear\+\_\+equations/damped\+\_\+newton\+
+                                                  \_\+raphson.c File Reference}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.1 ...ear\+\_\+equations/damped\+\_\+newton\+\_\+
+                                                  raphson.c File Reference}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.3 
+    
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing } inserted.
+<inserted text> 
+                }
+l.3 
+    
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+Overfull \hbox (711.99144pt too wide) in paragraph at lines 1--3
+[]$[]$ 
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.5 I
+     mplement the damped Newton--Raphson algorithm.
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no I in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 5--6
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.8 {\ttfamily \#
+                 include $<$stdio.\+h$>$}\newline
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+! Undefined control sequence.
+l.8 {\ttfamily \#include $<$stdio.\+
+                                    h$>$}\newline
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.9 {\ttfamily \#include \char`\"{}moore\+
+                                          \_\+penrose\+\_\+pseudo\+\_\+inver...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.9 {\ttfamily \#include \char`\"{}moore\+\_\+
+                                              penrose\+\_\+pseudo\+\_\+inver...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.9 ...ly \#include \char`\"{}moore\+\_\+penrose\+
+                                                  \_\+pseudo\+\_\+inverse.\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.9 ...#include \char`\"{}moore\+\_\+penrose\+\_\+
+                                                  pseudo\+\_\+inverse.\+h\ch...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.9 ... \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+
+                                                  \_\+inverse.\+h\char`\"{}}...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.9 ...ar`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+
+                                                  inverse.\+h\char`\"{}}\new...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.9 ...re\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+
+                                                  h\char`\"{}}\newline
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.10 {\ttfamily \#include \char`\"{}damped\+
+                                            \_\+newton\+\_\+raphson.\+h\char...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.10 {\ttfamily \#include \char`\"{}damped\+\_\+
+                                                newton\+\_\+raphson.\+h\char...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.10 ...y \#include \char`\"{}damped\+\_\+newton\+
+                                                  \_\+raphson.\+h\char`\"{}}...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.10 ...include \char`\"{}damped\+\_\+newton\+\_\+
+                                                  raphson.\+h\char`\"{}}\new...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.10 ...har`\"{}damped\+\_\+newton\+\_\+raphson.\+
+                                                  h\char`\"{}}\newline
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.11 {\ttfamily \#include \char`\"{}vector.\+
+                                             h\char`\"{}}\newline
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.12 {\ttfamily \#include \char`\"{}matrix.\+
+                                             h\char`\"{}}\newline
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.13 \doxysubsection
+                    *{Functions}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no * in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: Environment DoxyCompactItemize undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.14 \begin{DoxyCompactItemize}
+                               
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+Overfull \hbox (61.99963pt too wide) in paragraph at lines 8--16
+[]\OT1/cmtt/m/n/10 #include
+ []
+
+
+Overfull \hbox (52.30528pt too wide) in paragraph at lines 8--16
+\OML/cmm/m/it/10 <$\OT1/cmtt/m/n/10 stdio.h$\OML/cmm/m/it/10 >$ 
+ []
+
+
+Overfull \hbox (41.99963pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 #include
+ []
+
+
+Overfull \hbox (163.58853pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 "moore[]penrose[]pseudo[]inverse.h" 
+ []
+
+
+Overfull \hbox (41.99963pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 #include
+ []
+
+
+Overfull \hbox (128.30885pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 "damped[]newton[]raphson.h" 
+ []
+
+
+Overfull \hbox (41.99963pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 #include
+ []
+
+
+Overfull \hbox (52.49954pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 "vector.h" 
+ []
+
+
+Overfull \hbox (41.99963pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 #include
+ []
+
+
+Overfull \hbox (52.49954pt too wide) in paragraph at lines 8--16
+\OT1/cmtt/m/n/10 "matrix.h" 
+ []
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.16 u
+      int8\+\_\+t \mbox{\hyperlink{damped__newton__raphson_8c_a0cf3dc5e33409...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no 8 in font nullfont!
+! Undefined control sequence.
+l.16 uint8\+
+            \_\+t \mbox{\hyperlink{damped__newton__raphson_8c_a0cf3dc5e33409...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 uint8\+\_\+
+                t \mbox{\hyperlink{damped__newton__raphson_8c_a0cf3dc5e33409...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no t in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {damped__newton__raphson_8c_a0cf3dc5e334091bc43820fa1d...
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Undefined control sequence.
+<argument> ...5e334091bc43820fa1d8e86c14}{damped\+
+                                                  \_\+newton\+\_\+raphson}
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...4091bc43820fa1d8e86c14}{damped\+\_\+
+                                                  newton\+\_\+raphson}
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...820fa1d8e86c14}{damped\+\_\+newton\+
+                                                  \_\+raphson}
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...a1d8e86c14}{damped\+\_\+newton\+\_\+
+                                                  raphson}
+l.16 ...8e86c14}{damped\+\_\+newton\+\_\+raphson}}
+                                                   (uint8\+\_\+t f\+\_\+leng...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...damped\+\_\+newton\+\_\+raphson}} (uint8\+
+                                                  \_\+t f\+\_\+length, uint8...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...ed\+\_\+newton\+\_\+raphson}} (uint8\+\_\+
+                                                  t f\+\_\+length, uint8\+\_...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ..._\+newton\+\_\+raphson}} (uint8\+\_\+t f\+
+                                                  \_\+length, uint8\+\_\+t n...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...ewton\+\_\+raphson}} (uint8\+\_\+t f\+\_\+
+                                                  length, uint8\+\_\+t n, \m...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...son}} (uint8\+\_\+t f\+\_\+length, uint8\+
+                                                  \_\+t n, \mbox{\hyperlink{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+
+                                                  t n, \mbox{\hyperlink{vect...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+...
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x0\+\_\+arr\mbox{[}$\,$\m...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x0\+\_\+arr\mbox{[}$\,$\m...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+<argument> ...h_acb41430bc5720dda7d1c45d91a0b0221}
+                                                  {vector\+\_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x0\+\_\+arr\mbox{[}$\,$\m...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+<argument> ...0bc5720dda7d1c45d91a0b0221}{vector\+
+                                                  \_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x0\+\_\+arr\mbox{[}$\,$\m...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...720dda7d1c45d91a0b0221}{vector\+\_\+
+                                                  t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x0\+\_\+arr\mbox{[}$\,$\m...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Extra }, or forgotten $.
+\mbox #1->\leavevmode \hbox {#1}
+                                
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x0\+\_\+arr\mbox{[}$\,$\m...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.16 ...0dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+
+                                                  \_\+arr\mbox{[}$\,$\mbox{]...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+
+                                                  arr\mbox{[}$\,$\mbox{]}, d...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.16 ...+\_\+arr\mbox{[}$\,$\mbox{]}, double min\+
+                                                  \_\+lamda, double eps, uin...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...+arr\mbox{[}$\,$\mbox{]}, double min\+\_\+
+                                                  lamda, double eps, uint8\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...double min\+\_\+lamda, double eps, uint8\+
+                                                  \_\+t max\+\_\+it\+\_\+num...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...le min\+\_\+lamda, double eps, uint8\+\_\+
+                                                  t max\+\_\+it\+\_\+num, \m...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...+\_\+lamda, double eps, uint8\+\_\+t max\+
+                                                  \_\+it\+\_\+num, \mbox{\hy...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...+lamda, double eps, uint8\+\_\+t max\+\_\+
+                                                  it\+\_\+num, \mbox{\hyperl...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...da, double eps, uint8\+\_\+t max\+\_\+it\+
+                                                  \_\+num, \mbox{\hyperlink{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...double eps, uint8\+\_\+t max\+\_\+it\+\_\+
+                                                  num, \mbox{\hyperlink{vect...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+...
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   est\+\_\+x\+\_\+arr\mbox{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   est\+\_\+x\+\_\+arr\mbox{...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+<argument> ...h_acb41430bc5720dda7d1c45d91a0b0221}
+                                                  {vector\+\_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   est\+\_\+x\+\_\+arr\mbox{...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+<argument> ...0bc5720dda7d1c45d91a0b0221}{vector\+
+                                                  \_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   est\+\_\+x\+\_\+arr\mbox{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...720dda7d1c45d91a0b0221}{vector\+\_\+
+                                                  t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   est\+\_\+x\+\_\+arr\mbox{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Extra }, or forgotten $.
+\mbox #1->\leavevmode \hbox {#1}
+                                
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   est\+\_\+x\+\_\+arr\mbox{...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.16 ...dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+
+                                                  \_\+x\+\_\+arr\mbox{[}$\,$...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+
+                                                  x\+\_\+arr\mbox{[}$\,$\mbo...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+
+                                                  \_\+arr\mbox{[}$\,$\mbox{]...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...1a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+
+                                                  arr\mbox{[}$\,$\mbox{]}, v...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast
+                                                  $get\+\_\+non\+\_\+lin\+\_...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+! Undefined control sequence.
+l.16 ...+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+
+                                                  \_\+non\+\_\+lin\+\_\+sys)...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+
+                                                  non\+\_\+lin\+\_\+sys)(\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+! Undefined control sequence.
+l.16 ...{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+
+                                                  \_\+lin\+\_\+sys)(\mbox{\h...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+
+                                                  lin\+\_\+sys)(\mbox{\hyper...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+! Undefined control sequence.
+l.16 ...box{]}, void($\ast$get\+\_\+non\+\_\+lin\+
+                                                  \_\+sys)(\mbox{\hyperlink{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+
+                                                  sys)(\mbox{\hyperlink{vect...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no s in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no ( in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+...
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+<argument> ...h_acb41430bc5720dda7d1c45d91a0b0221}
+                                                  {vector\+\_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+<argument> ...0bc5720dda7d1c45d91a0b0221}{vector\+
+                                                  \_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...720dda7d1c45d91a0b0221}{vector\+\_\+
+                                                  t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Extra }, or forgotten $.
+\mbox #1->\leavevmode \hbox {#1}
+                                
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.16 ...20dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+
+                                                  \_\+arr\mbox{[}$\,$\mbox{]...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...a7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+
+                                                  arr\mbox{[}$\,$\mbox{]}, \...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+...
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   f\+\_\+vec\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   f\+\_\+vec\mbox{[}$\,$\mb...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+<argument> ...h_acb41430bc5720dda7d1c45d91a0b0221}
+                                                  {vector\+\_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   f\+\_\+vec\mbox{[}$\,$\mb...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+<argument> ...0bc5720dda7d1c45d91a0b0221}{vector\+
+                                                  \_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   f\+\_\+vec\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...720dda7d1c45d91a0b0221}{vector\+\_\+
+                                                  t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   f\+\_\+vec\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Extra }, or forgotten $.
+\mbox #1->\leavevmode \hbox {#1}
+                                
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   f\+\_\+vec\mbox{[}$\,$\mb...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.16 ...20dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+
+                                                  \_\+vec\mbox{[}$\,$\mbox{]...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...a7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+
+                                                  vec\mbox{[}$\,$\mbox{]}), ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast
+                                                  $get\+\_\+jacobian)(\mbox{...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+! Undefined control sequence.
+l.16 ...vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+
+                                                  \_\+jacobian)(\mbox{\hyper...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+
+                                                  jacobian)(\mbox{\hyperlink...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no j in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no ( in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+...
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+<argument> ...h_acb41430bc5720dda7d1c45d91a0b0221}
+                                                  {vector\+\_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+<argument> ...0bc5720dda7d1c45d91a0b0221}{vector\+
+                                                  \_\+t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...720dda7d1c45d91a0b0221}{vector\+\_\+
+                                                  t}
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Extra }, or forgotten $.
+\mbox #1->\leavevmode \hbox {#1}
+                                
+l.16 ...bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}
+                                                   x\+\_\+arr\mbox{[}$\,$\mb...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.16 ...20dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+
+                                                  \_\+arr\mbox{[}$\,$\mbox{]...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.16 ...a7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+
+                                                  arr\mbox{[}$\,$\mbox{]}, \...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+...
+l.16 ...76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}
+                                                   J\mbox{[}$\,$\mbox{]}\mbo...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no x in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.16 ...76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}
+                                                   J\mbox{[}$\,$\mbox{]}\mbo...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+<argument> ...h_af38ac6b76d645fea9abd6caeb4d9dd31}
+                                                  {matrix\+\_\+t}
+l.16 ...76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}
+                                                   J\mbox{[}$\,$\mbox{]}\mbo...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+<argument> ...b76d645fea9abd6caeb4d9dd31}{matrix\+
+                                                  \_\+t}
+l.16 ...76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}
+                                                   J\mbox{[}$\,$\mbox{]}\mbo...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...645fea9abd6caeb4d9dd31}{matrix\+\_\+
+                                                  t}
+l.16 ...76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}
+                                                   J\mbox{[}$\,$\mbox{]}\mbo...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Extra }, or forgotten $.
+\mbox #1->\leavevmode \hbox {#1}
+                                
+l.16 ...76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}
+                                                   J\mbox{[}$\,$\mbox{]}\mbo...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no ] in font nullfont!
+Missing character: There is no [ in font nullfont!
+Missing character: There is no ] in font nullfont!
+
+! LaTeX Error: Environment DoxyCompactList undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 \begin{DoxyCompactList}
+                            \small\item\em Implements the damped Newton--Rap...
+
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+! Undefined control sequence.
+l.17 \begin{DoxyCompactList}\small
+                                  \item\em Implements the damped Newton--Rap...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Command \item invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 \begin{DoxyCompactList}\small\item
+                                       \em Implements the damped Newton--Rap...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 \begin{DoxyCompactList}\small\item\em
+                                           Implements the damped Newton--Rap...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 \begin{DoxyCompactList}\small\item\em
+                                           Implements the damped Newton--Rap...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 \begin{DoxyCompactList}\small\item\em
+                                           Implements the damped Newton--Rap...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+LaTeX Font Warning: Command \em invalid in math mode on input line 17.
+
+
+! LaTeX Error: Command \itshape invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 \begin{DoxyCompactList}\small\item\em
+                                           Implements the damped Newton--Rap...
+
+Please use the math alphabet \mathit instead of the \itshape command. 
+
+
+! LaTeX Error: \begin{document} ended by \end{DoxyCompactList}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 ...--Raphson algorithm. \end{DoxyCompactList}
+                                                  \item
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+! LaTeX Error: Command \item invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.17 ...hson algorithm. \end{DoxyCompactList}\item
+                                                  
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.18 d
+      ouble \mbox{\hyperlink{damped__newton__raphson_8c_a46f90a02170f4f35f9b...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.18 d
+      ouble \mbox{\hyperlink{damped__newton__raphson_8c_a46f90a02170f4f35f9b...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.18 d
+      ouble \mbox{\hyperlink{damped__newton__raphson_8c_a46f90a02170f4f35f9b...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.18 d
+      ouble \mbox{\hyperlink{damped__newton__raphson_8c_a46f90a02170f4f35f9b...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {damped__newton__raphson_8c_a46f90a02170f4f35f9b3bdbc5...
+l.18 ...3bdbc5c65271a}{get\+\_\+damped\+\_\+norm}}
+                                                   (uint8\+\_\+t m, uint8\+\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.18 ...3bdbc5c65271a}{get\+\_\+damped\+\_\+norm}}
+                                                   (uint8\+\_\+t m, uint8\+\...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.18 ...3bdbc5c65271a}{get\+\_\+damped\+\_\+norm}}
+                                                   (uint8\+\_\+t m, uint8\+\...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.18 ...3bdbc5c65271a}{get\+\_\+damped\+\_\+norm}}
+                                                   (uint8\+\_\+t m, uint8\+\...
+(That makes 100 errors; please try again.) 
+Here is how much of TeX's memory you used:
+ 18 strings out of 492973
+ 516 string characters out of 3135926
+ 60384 words of memory out of 3000000
+ 3987 multiletter control sequences out of 15000+200000
+ 4154 words of font info for 16 fonts, out of 3000000 for 9000
+ 1141 hyphenation exceptions out of 8191
+ 18i,16n,12p,1044b,175s stack positions out of 5000i,500n,10000p,200000b,50000s
+
+!  ==> Fatal error occurred, no output PDF file produced!
diff --git a/doc/doxygen/latex/damped__newton__raphson_8c.tex b/doc/doxygen/latex/damped__newton__raphson_8c.tex
new file mode 100644
index 0000000..3c3d4a2
--- /dev/null
+++ b/doc/doxygen/latex/damped__newton__raphson_8c.tex
@@ -0,0 +1,164 @@
+\hypertarget{damped__newton__raphson_8c}{}\doxysection{damped\+\_\+newton\+\_\+raphson.\+c File Reference}
+\label{damped__newton__raphson_8c}\index{damped\_newton\_raphson.c@{damped\_newton\_raphson.c}}
+
+
+Implement the damped Newton--Raphson algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}damped\+\_\+newton\+\_\+raphson.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{damped__newton__raphson_8c_a0cf3dc5e334091bc43820fa1d8e86c14}{damped\+\_\+newton\+\_\+raphson}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+arr\mbox{[}$\,$\mbox{]}, double min\+\_\+lamda, double eps, uint8\+\_\+t max\+\_\+it\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the damped Newton--Raphson algorithm. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{damped__newton__raphson_8c_a46f90a02170f4f35f9b3bdbc5c65271a}{get\+\_\+damped\+\_\+norm}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Compute the norm of the damped Newton--Raphson algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{damped__newton__raphson_8c_acd5be84f1d01dfb379d85cc8aef8b65e}{get\+\_\+delta\+\_\+x}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}), \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} delta\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the correction vector the damped Newton--Raphson algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the damped Newton--Raphson algorithm. 
+
+The damped Newton--Raphson algorithm enables to solve multi-\/variant nonlinear equation systems.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{damped__newton__raphson_8c_a0cf3dc5e334091bc43820fa1d8e86c14}\label{damped__newton__raphson_8c_a0cf3dc5e334091bc43820fa1d8e86c14}} 
+\index{damped\_newton\_raphson.c@{damped\_newton\_raphson.c}!damped\_newton\_raphson@{damped\_newton\_raphson}}
+\index{damped\_newton\_raphson@{damped\_newton\_raphson}!damped\_newton\_raphson.c@{damped\_newton\_raphson.c}}
+\doxysubsubsection{\texorpdfstring{damped\_newton\_raphson()}{damped\_newton\_raphson()}}
+{\footnotesize\ttfamily uint8\+\_\+t damped\+\_\+newton\+\_\+raphson (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{double}]{min\+\_\+lamda,  }\item[{double}]{eps,  }\item[{uint8\+\_\+t}]{max\+\_\+it\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the damped Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+arr\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em min\+\_\+lamda} & minimal damping factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+it\+\_\+num} & maximal iteration number of the damped Newton--Raphson algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & estimated (solution) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 32 of file damped\+\_\+newton\+\_\+raphson.\+c.
+
+
+
+References get\+\_\+damped\+\_\+norm(), get\+\_\+delta\+\_\+x(), vector\+\_\+add(), vector\+\_\+copy(), vector\+\_\+get\+\_\+norm2(), vector\+\_\+scalar\+\_\+mul(), and vector\+\_\+t.
+
+
+
+Referenced by fsolve().
+
+\mbox{\Hypertarget{damped__newton__raphson_8c_a46f90a02170f4f35f9b3bdbc5c65271a}\label{damped__newton__raphson_8c_a46f90a02170f4f35f9b3bdbc5c65271a}} 
+\index{damped\_newton\_raphson.c@{damped\_newton\_raphson.c}!get\_damped\_norm@{get\_damped\_norm}}
+\index{get\_damped\_norm@{get\_damped\_norm}!damped\_newton\_raphson.c@{damped\_newton\_raphson.c}}
+\doxysubsubsection{\texorpdfstring{get\_damped\_norm()}{get\_damped\_norm()}}
+{\footnotesize\ttfamily double get\+\_\+damped\+\_\+norm (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Compute the norm of the damped Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the non-\/linear equations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+norm of the damped Newton--Raphson algorithm. 
+\end{DoxyReturn}
+
+
+Definition at line 104 of file damped\+\_\+newton\+\_\+raphson.\+c.
+
+
+
+References get\+\_\+delta\+\_\+x(), vector\+\_\+get\+\_\+norm2(), and vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson().
+
+\mbox{\Hypertarget{damped__newton__raphson_8c_acd5be84f1d01dfb379d85cc8aef8b65e}\label{damped__newton__raphson_8c_acd5be84f1d01dfb379d85cc8aef8b65e}} 
+\index{damped\_newton\_raphson.c@{damped\_newton\_raphson.c}!get\_delta\_x@{get\_delta\_x}}
+\index{get\_delta\_x@{get\_delta\_x}!damped\_newton\_raphson.c@{damped\_newton\_raphson.c}}
+\doxysubsubsection{\texorpdfstring{get\_delta\_x()}{get\_delta\_x()}}
+{\footnotesize\ttfamily void get\+\_\+delta\+\_\+x (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{delta\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the correction vector the damped Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the non-\/linear equations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em delta\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & the correction vector (term). \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 120 of file damped\+\_\+newton\+\_\+raphson.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), vector\+\_\+in\+\_\+place\+\_\+scalar\+\_\+mul(), and vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), and get\+\_\+damped\+\_\+norm().
+
diff --git a/doc/doxygen/latex/damped__newton__raphson_8h.tex b/doc/doxygen/latex/damped__newton__raphson_8h.tex
new file mode 100644
index 0000000..d277911
--- /dev/null
+++ b/doc/doxygen/latex/damped__newton__raphson_8h.tex
@@ -0,0 +1,161 @@
+\hypertarget{damped__newton__raphson_8h}{}\doxysection{damped\+\_\+newton\+\_\+raphson.\+h File Reference}
+\label{damped__newton__raphson_8h}\index{damped\_newton\_raphson.h@{damped\_newton\_raphson.h}}
+
+
+Implement the damped Newton--Raphson algorithm.  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{damped__newton__raphson_8h_a0cf3dc5e334091bc43820fa1d8e86c14}{damped\+\_\+newton\+\_\+raphson}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+arr\mbox{[}$\,$\mbox{]}, double min\+\_\+lamda, double eps, uint8\+\_\+t max\+\_\+it\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the damped Newton--Raphson algorithm. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{damped__newton__raphson_8h_a46f90a02170f4f35f9b3bdbc5c65271a}{get\+\_\+damped\+\_\+norm}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Compute the norm of the damped Newton--Raphson algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{damped__newton__raphson_8h_acd5be84f1d01dfb379d85cc8aef8b65e}{get\+\_\+delta\+\_\+x}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}), \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} delta\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the correction vector the damped Newton--Raphson algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the damped Newton--Raphson algorithm. 
+
+The damped Newton--Raphson algorithm enables to solve multi-\/variant nonlinear equation systems.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{damped__newton__raphson_8h_a0cf3dc5e334091bc43820fa1d8e86c14}\label{damped__newton__raphson_8h_a0cf3dc5e334091bc43820fa1d8e86c14}} 
+\index{damped\_newton\_raphson.h@{damped\_newton\_raphson.h}!damped\_newton\_raphson@{damped\_newton\_raphson}}
+\index{damped\_newton\_raphson@{damped\_newton\_raphson}!damped\_newton\_raphson.h@{damped\_newton\_raphson.h}}
+\doxysubsubsection{\texorpdfstring{damped\_newton\_raphson()}{damped\_newton\_raphson()}}
+{\footnotesize\ttfamily uint8\+\_\+t damped\+\_\+newton\+\_\+raphson (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{double}]{min\+\_\+lamda,  }\item[{double}]{eps,  }\item[{uint8\+\_\+t}]{max\+\_\+it\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the damped Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+arr\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em min\+\_\+lamda} & minimal damping factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+it\+\_\+num} & maximal iteration number of the damped Newton--Raphson algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & estimated (solution) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 32 of file damped\+\_\+newton\+\_\+raphson.\+c.
+
+
+
+References get\+\_\+damped\+\_\+norm(), get\+\_\+delta\+\_\+x(), vector\+\_\+add(), vector\+\_\+copy(), vector\+\_\+get\+\_\+norm2(), vector\+\_\+scalar\+\_\+mul(), and vector\+\_\+t.
+
+
+
+Referenced by fsolve().
+
+\mbox{\Hypertarget{damped__newton__raphson_8h_a46f90a02170f4f35f9b3bdbc5c65271a}\label{damped__newton__raphson_8h_a46f90a02170f4f35f9b3bdbc5c65271a}} 
+\index{damped\_newton\_raphson.h@{damped\_newton\_raphson.h}!get\_damped\_norm@{get\_damped\_norm}}
+\index{get\_damped\_norm@{get\_damped\_norm}!damped\_newton\_raphson.h@{damped\_newton\_raphson.h}}
+\doxysubsubsection{\texorpdfstring{get\_damped\_norm()}{get\_damped\_norm()}}
+{\footnotesize\ttfamily double get\+\_\+damped\+\_\+norm (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Compute the norm of the damped Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the non-\/linear equations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+norm of the damped Newton--Raphson algorithm. 
+\end{DoxyReturn}
+
+
+Definition at line 104 of file damped\+\_\+newton\+\_\+raphson.\+c.
+
+
+
+References get\+\_\+delta\+\_\+x(), vector\+\_\+get\+\_\+norm2(), and vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson().
+
+\mbox{\Hypertarget{damped__newton__raphson_8h_acd5be84f1d01dfb379d85cc8aef8b65e}\label{damped__newton__raphson_8h_acd5be84f1d01dfb379d85cc8aef8b65e}} 
+\index{damped\_newton\_raphson.h@{damped\_newton\_raphson.h}!get\_delta\_x@{get\_delta\_x}}
+\index{get\_delta\_x@{get\_delta\_x}!damped\_newton\_raphson.h@{damped\_newton\_raphson.h}}
+\doxysubsubsection{\texorpdfstring{get\_delta\_x()}{get\_delta\_x()}}
+{\footnotesize\ttfamily void get\+\_\+delta\+\_\+x (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{delta\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the correction vector the damped Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the non-\/linear equations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & guess vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em delta\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & the correction vector (term). \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 120 of file damped\+\_\+newton\+\_\+raphson.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), vector\+\_\+in\+\_\+place\+\_\+scalar\+\_\+mul(), and vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), and get\+\_\+damped\+\_\+norm().
+
diff --git a/doc/doxygen/latex/dist__based__fi_8c.tex b/doc/doxygen/latex/dist__based__fi_8c.tex
new file mode 100644
index 0000000..20d1745
--- /dev/null
+++ b/doc/doxygen/latex/dist__based__fi_8c.tex
@@ -0,0 +1,96 @@
+\hypertarget{dist__based__fi_8c}{}\doxysection{dist\+\_\+based\+\_\+fi.\+c File Reference}
+\label{dist__based__fi_8c}\index{dist\_based\_fi.c@{dist\_based\_fi.c}}
+
+
+Error function of distance-\/based localization systems.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{dist__based__fi_8c_a67e1cf0904bc0be1258e5fb4cb292a9a}{dist\+\_\+based\+\_\+fi}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ri)
+\begin{DoxyCompactList}\small\item\em Defines the error function of a distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__fi_8c_a2a1d8806de5f7f5131be1fbd706c17fa}{dist\+\_\+based\+\_\+f\+\_\+i}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines the error function of a distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Error function of distance-\/based localization systems. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{dist__based__fi_8c_a2a1d8806de5f7f5131be1fbd706c17fa}\label{dist__based__fi_8c_a2a1d8806de5f7f5131be1fbd706c17fa}} 
+\index{dist\_based\_fi.c@{dist\_based\_fi.c}!dist\_based\_f\_i@{dist\_based\_f\_i}}
+\index{dist\_based\_f\_i@{dist\_based\_f\_i}!dist\_based\_fi.c@{dist\_based\_fi.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_f\_i()}{dist\_based\_f\_i()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+f\+\_\+i (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{d\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines the error function of a distance-\/based localization system. 
+
+This error function is related to multiple reference stations.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & Number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em d\+\_\+vec\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & errors related to reference stations and destined position. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 47 of file dist\+\_\+based\+\_\+fi.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{dist__based__fi_8c_a67e1cf0904bc0be1258e5fb4cb292a9a}\label{dist__based__fi_8c_a67e1cf0904bc0be1258e5fb4cb292a9a}} 
+\index{dist\_based\_fi.c@{dist\_based\_fi.c}!dist\_based\_fi@{dist\_based\_fi}}
+\index{dist\_based\_fi@{dist\_based\_fi}!dist\_based\_fi.c@{dist\_based\_fi.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_fi()}{dist\_based\_fi()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+based\+\_\+fi (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ri }\end{DoxyParamCaption})}
+
+
+
+Defines the error function of a distance-\/based localization system. 
+
+This error function is related to one reference station.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a reference station. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ri} & distance to a reference station.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the error related to a reference station and destined position. 
+\end{DoxyReturn}
+
+
+Definition at line 26 of file dist\+\_\+based\+\_\+fi.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), and dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J().
+
diff --git a/doc/doxygen/latex/dist__based__fi_8h.tex b/doc/doxygen/latex/dist__based__fi_8h.tex
new file mode 100644
index 0000000..e0770f4
--- /dev/null
+++ b/doc/doxygen/latex/dist__based__fi_8h.tex
@@ -0,0 +1,95 @@
+\hypertarget{dist__based__fi_8h}{}\doxysection{dist\+\_\+based\+\_\+fi.\+h File Reference}
+\label{dist__based__fi_8h}\index{dist\_based\_fi.h@{dist\_based\_fi.h}}
+
+
+Error function of distance-\/based localization systems.  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{dist__based__fi_8h_a67e1cf0904bc0be1258e5fb4cb292a9a}{dist\+\_\+based\+\_\+fi}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ri)
+\begin{DoxyCompactList}\small\item\em Defines the error function of a distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__fi_8h_a2a1d8806de5f7f5131be1fbd706c17fa}{dist\+\_\+based\+\_\+f\+\_\+i}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines the error function of a distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Error function of distance-\/based localization systems. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{dist__based__fi_8h_a2a1d8806de5f7f5131be1fbd706c17fa}\label{dist__based__fi_8h_a2a1d8806de5f7f5131be1fbd706c17fa}} 
+\index{dist\_based\_fi.h@{dist\_based\_fi.h}!dist\_based\_f\_i@{dist\_based\_f\_i}}
+\index{dist\_based\_f\_i@{dist\_based\_f\_i}!dist\_based\_fi.h@{dist\_based\_fi.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_f\_i()}{dist\_based\_f\_i()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+f\+\_\+i (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{d\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines the error function of a distance-\/based localization system. 
+
+This error function is related to multiple reference stations.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & Number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em d\+\_\+vec\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & errors related to reference stations and destined position. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 47 of file dist\+\_\+based\+\_\+fi.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{dist__based__fi_8h_a67e1cf0904bc0be1258e5fb4cb292a9a}\label{dist__based__fi_8h_a67e1cf0904bc0be1258e5fb4cb292a9a}} 
+\index{dist\_based\_fi.h@{dist\_based\_fi.h}!dist\_based\_fi@{dist\_based\_fi}}
+\index{dist\_based\_fi@{dist\_based\_fi}!dist\_based\_fi.h@{dist\_based\_fi.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_fi()}{dist\_based\_fi()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+based\+\_\+fi (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ri }\end{DoxyParamCaption})}
+
+
+
+Defines the error function of a distance-\/based localization system. 
+
+This error function is related to one reference station.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a reference station. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ri} & distance to a reference station.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the error related to a reference station and destined position. 
+\end{DoxyReturn}
+
+
+Definition at line 26 of file dist\+\_\+based\+\_\+fi.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), and dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J().
+
diff --git a/doc/doxygen/latex/dist__based__jacobian_8c.tex b/doc/doxygen/latex/dist__based__jacobian_8c.tex
new file mode 100644
index 0000000..161a4b9
--- /dev/null
+++ b/doc/doxygen/latex/dist__based__jacobian_8c.tex
@@ -0,0 +1,173 @@
+\hypertarget{dist__based__jacobian_8c}{}\doxysection{dist\+\_\+based\+\_\+jacobian.\+c File Reference}
+\label{dist__based__jacobian_8c}\index{dist\_based\_jacobian.c@{dist\_based\_jacobian.c}}
+
+
+Jacobian function of distance-\/based localization systems.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+fi.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{dist__based__jacobian_8c_a769d35615d26a67b97bfd40b5d26a95c}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} \vec{f} $ of distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__jacobian_8c_a59b1a3323c2896ff28f71135af0204a2}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} J_{f} $ of distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__jacobian_8c_a8f900ff7d66d260d3b2e3e0ef2757ccc}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the Jacobian matrix of distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__jacobian_8c_a04231d3d216ce6814eb3e183f7a2e408}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes $ J_f^{T} \vec{s} $ of distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Jacobian function of distance-\/based localization systems. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{dist__based__jacobian_8c_a8f900ff7d66d260d3b2e3e0ef2757ccc}\label{dist__based__jacobian_8c_a8f900ff7d66d260d3b2e3e0ef2757ccc}} 
+\index{dist\_based\_jacobian.c@{dist\_based\_jacobian.c}!dist\_based\_jacobian\_get\_J@{dist\_based\_jacobian\_get\_J}}
+\index{dist\_based\_jacobian\_get\_J@{dist\_based\_jacobian\_get\_J}!dist\_based\_jacobian.c@{dist\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_J()}{dist\_based\_jacobian\_get\_J()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the Jacobian matrix of distance-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the Jacobian Matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 100 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{dist__based__jacobian_8c_a04231d3d216ce6814eb3e183f7a2e408}\label{dist__based__jacobian_8c_a04231d3d216ce6814eb3e183f7a2e408}} 
+\index{dist\_based\_jacobian.c@{dist\_based\_jacobian.c}!dist\_based\_jacobian\_get\_J\_mul\_s@{dist\_based\_jacobian\_get\_J\_mul\_s}}
+\index{dist\_based\_jacobian\_get\_J\_mul\_s@{dist\_based\_jacobian\_get\_J\_mul\_s}!dist\_based\_jacobian.c@{dist\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_J\_mul\_s()}{dist\_based\_jacobian\_get\_J\_mul\_s()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{s\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes $ J_f^{T} \vec{s} $ of distance-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em s\mbox{[}$\,$\mbox{]}} & correction vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\+\_\+s\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{s} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 132 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{dist__based__jacobian_8c_a769d35615d26a67b97bfd40b5d26a95c}\label{dist__based__jacobian_8c_a769d35615d26a67b97bfd40b5d26a95c}} 
+\index{dist\_based\_jacobian.c@{dist\_based\_jacobian.c}!dist\_based\_jacobian\_get\_JTf@{dist\_based\_jacobian\_get\_JTf}}
+\index{dist\_based\_jacobian\_get\_JTf@{dist\_based\_jacobian\_get\_JTf}!dist\_based\_jacobian.c@{dist\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_JTf()}{dist\_based\_jacobian\_get\_JTf()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{J\+Tf\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} \vec{f} $ of distance-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+vec\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+Tf\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{f} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 28 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References dist\+\_\+based\+\_\+fi(), matrix\+\_\+t, and vector\+\_\+clear().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{dist__based__jacobian_8c_a59b1a3323c2896ff28f71135af0204a2}\label{dist__based__jacobian_8c_a59b1a3323c2896ff28f71135af0204a2}} 
+\index{dist\_based\_jacobian.c@{dist\_based\_jacobian.c}!dist\_based\_jacobian\_get\_JTJ@{dist\_based\_jacobian\_get\_JTJ}}
+\index{dist\_based\_jacobian\_get\_JTJ@{dist\_based\_jacobian\_get\_JTJ}!dist\_based\_jacobian.c@{dist\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_JTJ()}{dist\_based\_jacobian\_get\_JTJ()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} J_{f} $ of distance-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+vec\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} J_{f} $ matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 56 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References dist\+\_\+based\+\_\+fi(), matrix\+\_\+clear(), and matrix\+\_\+t.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
diff --git a/doc/doxygen/latex/dist__based__jacobian_8h.tex b/doc/doxygen/latex/dist__based__jacobian_8h.tex
new file mode 100644
index 0000000..a0547ef
--- /dev/null
+++ b/doc/doxygen/latex/dist__based__jacobian_8h.tex
@@ -0,0 +1,171 @@
+\hypertarget{dist__based__jacobian_8h}{}\doxysection{dist\+\_\+based\+\_\+jacobian.\+h File Reference}
+\label{dist__based__jacobian_8h}\index{dist\_based\_jacobian.h@{dist\_based\_jacobian.h}}
+
+
+Jacobian function of distance-\/based localization systems.  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{dist__based__jacobian_8h_a769d35615d26a67b97bfd40b5d26a95c}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} \vec{f} $ of distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__jacobian_8h_a59b1a3323c2896ff28f71135af0204a2}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} J_{f} $ of distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__jacobian_8h_a04231d3d216ce6814eb3e183f7a2e408}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes $ J_f^{T} \vec{s} $ of distance-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{dist__based__jacobian_8h_a8f900ff7d66d260d3b2e3e0ef2757ccc}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the Jacobian matrix of distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Jacobian function of distance-\/based localization systems. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{dist__based__jacobian_8h_a8f900ff7d66d260d3b2e3e0ef2757ccc}\label{dist__based__jacobian_8h_a8f900ff7d66d260d3b2e3e0ef2757ccc}} 
+\index{dist\_based\_jacobian.h@{dist\_based\_jacobian.h}!dist\_based\_jacobian\_get\_J@{dist\_based\_jacobian\_get\_J}}
+\index{dist\_based\_jacobian\_get\_J@{dist\_based\_jacobian\_get\_J}!dist\_based\_jacobian.h@{dist\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_J()}{dist\_based\_jacobian\_get\_J()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the Jacobian matrix of distance-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the Jacobian Matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 100 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{dist__based__jacobian_8h_a04231d3d216ce6814eb3e183f7a2e408}\label{dist__based__jacobian_8h_a04231d3d216ce6814eb3e183f7a2e408}} 
+\index{dist\_based\_jacobian.h@{dist\_based\_jacobian.h}!dist\_based\_jacobian\_get\_J\_mul\_s@{dist\_based\_jacobian\_get\_J\_mul\_s}}
+\index{dist\_based\_jacobian\_get\_J\_mul\_s@{dist\_based\_jacobian\_get\_J\_mul\_s}!dist\_based\_jacobian.h@{dist\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_J\_mul\_s()}{dist\_based\_jacobian\_get\_J\_mul\_s()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{s\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes $ J_f^{T} \vec{s} $ of distance-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em s\mbox{[}$\,$\mbox{]}} & correction vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\+\_\+s\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{s} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 132 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{dist__based__jacobian_8h_a769d35615d26a67b97bfd40b5d26a95c}\label{dist__based__jacobian_8h_a769d35615d26a67b97bfd40b5d26a95c}} 
+\index{dist\_based\_jacobian.h@{dist\_based\_jacobian.h}!dist\_based\_jacobian\_get\_JTf@{dist\_based\_jacobian\_get\_JTf}}
+\index{dist\_based\_jacobian\_get\_JTf@{dist\_based\_jacobian\_get\_JTf}!dist\_based\_jacobian.h@{dist\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_JTf()}{dist\_based\_jacobian\_get\_JTf()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{J\+Tf\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} \vec{f} $ of distance-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+vec\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+Tf\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{f} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 28 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References dist\+\_\+based\+\_\+fi(), matrix\+\_\+t, and vector\+\_\+clear().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{dist__based__jacobian_8h_a59b1a3323c2896ff28f71135af0204a2}\label{dist__based__jacobian_8h_a59b1a3323c2896ff28f71135af0204a2}} 
+\index{dist\_based\_jacobian.h@{dist\_based\_jacobian.h}!dist\_based\_jacobian\_get\_JTJ@{dist\_based\_jacobian\_get\_JTJ}}
+\index{dist\_based\_jacobian\_get\_JTJ@{dist\_based\_jacobian\_get\_JTJ}!dist\_based\_jacobian.h@{dist\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_jacobian\_get\_JTJ()}{dist\_based\_jacobian\_get\_JTJ()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} J_{f} $ of distance-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+vec\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} J_{f} $ matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 56 of file dist\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References dist\+\_\+based\+\_\+fi(), matrix\+\_\+clear(), and matrix\+\_\+t.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
diff --git a/doc/doxygen/latex/dist__based__position_8c.tex b/doc/doxygen/latex/dist__based__position_8c.tex
new file mode 100644
index 0000000..60698ad
--- /dev/null
+++ b/doc/doxygen/latex/dist__based__position_8c.tex
@@ -0,0 +1,82 @@
+\hypertarget{dist__based__position_8c}{}\doxysection{dist\+\_\+based\+\_\+position.\+c File Reference}
+\label{dist__based__position_8c}\index{dist\_based\_position.c@{dist\_based\_position.c}}
+
+
+Functions of distance-\/based localization systems.  
+
+
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+position.\+h\char`\"{}}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{dist__based__position_8c_a308f40001270af6663e2b1f9aff47cc3}{dist\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Computes the absolute error of a position of a distance-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{dist__based__position_8c_a756c1407a4ba61d312a676ffd824517d}{dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the distance between a mobile station and a reference station of a distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Functions of distance-\/based localization systems. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{dist__based__position_8c_a308f40001270af6663e2b1f9aff47cc3}\label{dist__based__position_8c_a308f40001270af6663e2b1f9aff47cc3}} 
+\index{dist\_based\_position.c@{dist\_based\_position.c}!dist\_based\_get\_absolute\_error@{dist\_based\_get\_absolute\_error}}
+\index{dist\_based\_get\_absolute\_error@{dist\_based\_get\_absolute\_error}!dist\_based\_position.c@{dist\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_get\_absolute\_error()}{dist\_based\_get\_absolute\_error()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Computes the absolute error of a position of a distance-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em value\+\_\+arr\mbox{[}$\,$\mbox{]}} & true position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]}} & approximate position of the mobile device. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]}} & includes the absolute error. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & arrays length. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 29 of file dist\+\_\+based\+\_\+position.\+c.
+
+\mbox{\Hypertarget{dist__based__position_8c_a756c1407a4ba61d312a676ffd824517d}\label{dist__based__position_8c_a756c1407a4ba61d312a676ffd824517d}} 
+\index{dist\_based\_position.c@{dist\_based\_position.c}!dist\_based\_get\_distance\_to\_anchor@{dist\_based\_get\_distance\_to\_anchor}}
+\index{dist\_based\_get\_distance\_to\_anchor@{dist\_based\_get\_distance\_to\_anchor}!dist\_based\_position.c@{dist\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_get\_distance\_to\_anchor()}{dist\_based\_get\_distance\_to\_anchor()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the distance between a mobile station and a reference station of a distance-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 45 of file dist\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, vector\+\_\+get\+\_\+norm2(), and vector\+\_\+sub().
+
diff --git a/doc/doxygen/latex/dist__based__position_8h.tex b/doc/doxygen/latex/dist__based__position_8h.tex
new file mode 100644
index 0000000..6984418
--- /dev/null
+++ b/doc/doxygen/latex/dist__based__position_8h.tex
@@ -0,0 +1,81 @@
+\hypertarget{dist__based__position_8h}{}\doxysection{dist\+\_\+based\+\_\+position.\+h File Reference}
+\label{dist__based__position_8h}\index{dist\_based\_position.h@{dist\_based\_position.h}}
+
+
+Functions of distance-\/based localization systems.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{dist__based__position_8h_a308f40001270af6663e2b1f9aff47cc3}{dist\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Computes the absolute error of a position of a distance-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{dist__based__position_8h_a756c1407a4ba61d312a676ffd824517d}{dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the distance between a mobile station and a reference station of a distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Functions of distance-\/based localization systems. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{dist__based__position_8h_a308f40001270af6663e2b1f9aff47cc3}\label{dist__based__position_8h_a308f40001270af6663e2b1f9aff47cc3}} 
+\index{dist\_based\_position.h@{dist\_based\_position.h}!dist\_based\_get\_absolute\_error@{dist\_based\_get\_absolute\_error}}
+\index{dist\_based\_get\_absolute\_error@{dist\_based\_get\_absolute\_error}!dist\_based\_position.h@{dist\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_get\_absolute\_error()}{dist\_based\_get\_absolute\_error()}}
+{\footnotesize\ttfamily void dist\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Computes the absolute error of a position of a distance-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em value\+\_\+arr\mbox{[}$\,$\mbox{]}} & true position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]}} & approximate position of the mobile device. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]}} & includes the absolute error. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & arrays length. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 29 of file dist\+\_\+based\+\_\+position.\+c.
+
+\mbox{\Hypertarget{dist__based__position_8h_a756c1407a4ba61d312a676ffd824517d}\label{dist__based__position_8h_a756c1407a4ba61d312a676ffd824517d}} 
+\index{dist\_based\_position.h@{dist\_based\_position.h}!dist\_based\_get\_distance\_to\_anchor@{dist\_based\_get\_distance\_to\_anchor}}
+\index{dist\_based\_get\_distance\_to\_anchor@{dist\_based\_get\_distance\_to\_anchor}!dist\_based\_position.h@{dist\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{dist\_based\_get\_distance\_to\_anchor()}{dist\_based\_get\_distance\_to\_anchor()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the distance between a mobile station and a reference station of a distance-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 45 of file dist\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, vector\+\_\+get\+\_\+norm2(), and vector\+\_\+sub().
+
diff --git a/doc/doxygen/latex/distance__based__test_8c.tex b/doc/doxygen/latex/distance__based__test_8c.tex
new file mode 100644
index 0000000..3f09194
--- /dev/null
+++ b/doc/doxygen/latex/distance__based__test_8c.tex
@@ -0,0 +1,50 @@
+\hypertarget{distance__based__test_8c}{}\doxysection{distance\+\_\+based\+\_\+test.\+c File Reference}
+\label{distance__based__test_8c}\index{distance\_based\_test.c@{distance\_based\_test.c}}
+
+
+Examples of localization algorithms of distance-\/based positioning systems.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}trilateration.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+position.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{distance__based__test_8c_a3a6d73a022976728a5a298ba62d8e115}{distance\+\_\+based\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of a distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of localization algorithms of distance-\/based positioning systems. 
+
+Localization algorithms examples using distance measures (see the \mbox{\hyperlink{dist__based__position_8h}{methods of distance-\/based}} localization systems).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{distance__based__test_8c_a3a6d73a022976728a5a298ba62d8e115}\label{distance__based__test_8c_a3a6d73a022976728a5a298ba62d8e115}} 
+\index{distance\_based\_test.c@{distance\_based\_test.c}!distance\_based\_test@{distance\_based\_test}}
+\index{distance\_based\_test@{distance\_based\_test}!distance\_based\_test.c@{distance\_based\_test.c}}
+\doxysubsubsection{\texorpdfstring{distance\_based\_test()}{distance\_based\_test()}}
+{\footnotesize\ttfamily void distance\+\_\+based\+\_\+test (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+Example of a distance-\/based localization system. 
+
+This example shows how to use the trilateration algorithm, whereby an estimated position is calculated based on the distance measurements. 
+
+Definition at line 32 of file distance\+\_\+based\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t, trilateration2(), and vector\+\_\+flex\+\_\+print().
+
diff --git a/doc/doxygen/latex/distance__based__test_8h.tex b/doc/doxygen/latex/distance__based__test_8h.tex
new file mode 100644
index 0000000..d9b02d0
--- /dev/null
+++ b/doc/doxygen/latex/distance__based__test_8h.tex
@@ -0,0 +1,45 @@
+\hypertarget{distance__based__test_8h}{}\doxysection{distance\+\_\+based\+\_\+test.\+h File Reference}
+\label{distance__based__test_8h}\index{distance\_based\_test.h@{distance\_based\_test.h}}
+
+
+Examples of localization algorithms of distance-\/based positioning systems.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{distance__based__test_8h_a3a6d73a022976728a5a298ba62d8e115}{distance\+\_\+based\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of a distance-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of localization algorithms of distance-\/based positioning systems. 
+
+Localization algorithms examples using distance measures (see the \mbox{\hyperlink{dist__based__position_8h}{methods of distance-\/based}} localization systems).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{distance__based__test_8h_a3a6d73a022976728a5a298ba62d8e115}\label{distance__based__test_8h_a3a6d73a022976728a5a298ba62d8e115}} 
+\index{distance\_based\_test.h@{distance\_based\_test.h}!distance\_based\_test@{distance\_based\_test}}
+\index{distance\_based\_test@{distance\_based\_test}!distance\_based\_test.h@{distance\_based\_test.h}}
+\doxysubsubsection{\texorpdfstring{distance\_based\_test()}{distance\_based\_test()}}
+{\footnotesize\ttfamily void distance\+\_\+based\+\_\+test (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+Example of a distance-\/based localization system. 
+
+This example shows how to use the trilateration algorithm, whereby an estimated position is calculated based on the distance measurements. 
+
+Definition at line 32 of file distance\+\_\+based\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t, trilateration2(), and vector\+\_\+flex\+\_\+print().
+
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new file mode 100644
index 0000000..bf19901
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diff --git a/doc/doxygen/latex/files.tex b/doc/doxygen/latex/files.tex
new file mode 100644
index 0000000..b78304e
--- /dev/null
+++ b/doc/doxygen/latex/files.tex
@@ -0,0 +1,98 @@
+\doxysection{File List}
+Here is a list of all documented files with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{combinatorics_8c}{combinatorics.\+c}} \\*Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order }{\pageref{combinatorics_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{combinatorics_8h}{combinatorics.\+h}} \\*Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order }{\pageref{combinatorics_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{damped__newton__raphson_8c}{damped\+\_\+newton\+\_\+raphson.\+c}} \\*Implement the damped Newton--Raphson algorithm }{\pageref{damped__newton__raphson_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{damped__newton__raphson_8h}{damped\+\_\+newton\+\_\+raphson.\+h}} \\*Implement the damped Newton--Raphson algorithm }{\pageref{damped__newton__raphson_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{dist__based__fi_8c}{dist\+\_\+based\+\_\+fi.\+c}} \\*Error function of distance-\/based localization systems }{\pageref{dist__based__fi_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{dist__based__fi_8h}{dist\+\_\+based\+\_\+fi.\+h}} \\*Error function of distance-\/based localization systems }{\pageref{dist__based__fi_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{dist__based__jacobian_8c}{dist\+\_\+based\+\_\+jacobian.\+c}} \\*Jacobian function of distance-\/based localization systems }{\pageref{dist__based__jacobian_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{dist__based__jacobian_8h}{dist\+\_\+based\+\_\+jacobian.\+h}} \\*Jacobian function of distance-\/based localization systems }{\pageref{dist__based__jacobian_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{dist__based__position_8c}{dist\+\_\+based\+\_\+position.\+c}} \\*Functions of distance-\/based localization systems }{\pageref{dist__based__position_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{dist__based__position_8h}{dist\+\_\+based\+\_\+position.\+h}} \\*Functions of distance-\/based localization systems }{\pageref{dist__based__position_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{distance__based__test_8c}{distance\+\_\+based\+\_\+test.\+c}} \\*Examples of localization algorithms of distance-\/based positioning systems }{\pageref{distance__based__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{distance__based__test_8h}{distance\+\_\+based\+\_\+test.\+h}} \\*Examples of localization algorithms of distance-\/based positioning systems }{\pageref{distance__based__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{DOP_8c}{D\+O\+P.\+c}} \\*Compute the Position Dilution of Precision (P\+D\+OP) }{\pageref{DOP_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{DOP_8h}{D\+O\+P.\+h}} \\*Compute the Position Dilution of Precision (P\+D\+OP) }{\pageref{DOP_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{fsolve_8c}{fsolve.\+c}} \\*Solve multi-\/variant nonlinear equation systems }{\pageref{fsolve_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{fsolve_8h}{fsolve.\+h}} \\*Solve multi-\/variant nonlinear equation systems }{\pageref{fsolve_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{fsolve__test_8c}{fsolve\+\_\+test.\+c}} \\*Examples of solving non-\/linear equation systems }{\pageref{fsolve__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{fsolve__test_8h}{fsolve\+\_\+test.\+h}} \\*Examples of solving non-\/linear equation systems }{\pageref{fsolve__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{givens__test_8c}{givens\+\_\+test.\+c}} \\*Examples of the Givens algorithm }{\pageref{givens__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{givens__test_8h}{givens\+\_\+test.\+h}} \\*Examples of the Givens algorithm }{\pageref{givens__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{householder__test_8c}{householder\+\_\+test.\+c}} \\*Examples of the Householder algorithm }{\pageref{householder__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{householder__test_8h}{householder\+\_\+test.\+h}} \\*Examples of the Householder algorithm }{\pageref{householder__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{levenberg__marquardt_8c}{levenberg\+\_\+marquardt.\+c}} \\*Implement the Levenberg--Marquardt (L\+VM) algorithm }{\pageref{levenberg__marquardt_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{levenberg__marquardt_8h}{levenberg\+\_\+marquardt.\+h}} \\*Implement the Levenberg--Marquardt (L\+VM) algorithm }{\pageref{levenberg__marquardt_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{loc__gauss__newton_8c}{loc\+\_\+gauss\+\_\+newton.\+c}} \\*Implement the Gauss--Newton algorithm }{\pageref{loc__gauss__newton_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{loc__gauss__newton_8h}{loc\+\_\+gauss\+\_\+newton.\+h}} \\*Implement the Gauss--Newton algorithm for position optimization }{\pageref{loc__gauss__newton_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{loc__levenberg__marquardt_8c}{loc\+\_\+levenberg\+\_\+marquardt.\+c}} \\*Implement the Levenberg--Marquardt (L\+VM) algorithm }{\pageref{loc__levenberg__marquardt_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{loc__levenberg__marquardt_8h}{loc\+\_\+levenberg\+\_\+marquardt.\+h}} \\*Implement the Levenberg--Marquardt (L\+VM) algorithm for position optimization }{\pageref{loc__levenberg__marquardt_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{lu__decomp_8c}{lu\+\_\+decomp.\+c}} \\*Computes the LU decomposition of the matrix }{\pageref{lu__decomp_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{lu__decomp_8h}{lu\+\_\+decomp.\+h}} \\*Computes the LU decomposition of the matrix }{\pageref{lu__decomp_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{lu__decomp__test_8c}{lu\+\_\+decomp\+\_\+test.\+c}} \\*Examples of the LU algorithm with pivoting }{\pageref{lu__decomp__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{lu__decomp__test_8h}{lu\+\_\+decomp\+\_\+test.\+h}} \\*Examples of the LU algorithm with pivoting }{\pageref{lu__decomp__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__fi_8c}{magnetic\+\_\+based\+\_\+fi.\+c}} \\*Error function of D\+C-\/pulsed, magnetic localization system }{\pageref{magnetic__based__fi_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__fi_8h}{magnetic\+\_\+based\+\_\+fi.\+h}} \\*Error function of D\+C-\/pulsed, magnetic localization system }{\pageref{magnetic__based__fi_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__jacobian_8c}{magnetic\+\_\+based\+\_\+jacobian.\+c}} \\*Jacobian function of D\+C-\/pulsed, magnetic localization system }{\pageref{magnetic__based__jacobian_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__jacobian_8h}{magnetic\+\_\+based\+\_\+jacobian.\+h}} \\*Jacobian function of D\+C-\/pulsed, magnetic localization system }{\pageref{magnetic__based__jacobian_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__position_8c}{magnetic\+\_\+based\+\_\+position.\+c}} \\*Functions of of D\+C-\/pulsed, magnetic localization system }{\pageref{magnetic__based__position_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__position_8h}{magnetic\+\_\+based\+\_\+position.\+h}} \\*Functions of of D\+C-\/pulsed, magnetic localization system }{\pageref{magnetic__based__position_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__test_8c}{magnetic\+\_\+based\+\_\+test.\+c}} \\*Examples of localization algorithms of magnetic-\/based positioning systems }{\pageref{magnetic__based__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{magnetic__based__test_8h}{magnetic\+\_\+based\+\_\+test.\+h}} \\*Examples of localization algorithms of magnetic-\/based positioning systems }{\pageref{magnetic__based__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{matrix_8c}{matrix.\+c}} \\*Matrix computations }{\pageref{matrix_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{matrix_8h}{matrix.\+h}} \\*Matrix computations }{\pageref{matrix_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{matrix__test_8c}{matrix\+\_\+test.\+c}} \\*Examples of matrix computations }{\pageref{matrix__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{matrix__test_8h}{matrix\+\_\+test.\+h}} \\*Examples of matrix computations }{\pageref{matrix__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{modified__gauss__newton_8c}{modified\+\_\+gauss\+\_\+newton.\+c}} \\*Implement the Gauss--Newton algorithm }{\pageref{modified__gauss__newton_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{modified__gauss__newton_8h}{modified\+\_\+gauss\+\_\+newton.\+h}} \\*Implement the Gauss--Newton algorithm }{\pageref{modified__gauss__newton_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{moore__penrose__pinv__test_8c}{moore\+\_\+penrose\+\_\+pinv\+\_\+test.\+c}} \\*Examples of the Moore--Penrose algorithm }{\pageref{moore__penrose__pinv__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{moore__penrose__pinv__test_8h}{moore\+\_\+penrose\+\_\+pinv\+\_\+test.\+h}} \\*Examples of the Moore--Penrose algorithm }{\pageref{moore__penrose__pinv__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{moore__penrose__pseudo__inverse_8c}{moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+c}} \\*Moore--Penrose algorithm to compute the pseudo-\/inverse of a rectangular matrix }{\pageref{moore__penrose__pseudo__inverse_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{moore__penrose__pseudo__inverse_8h}{moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h}} \\*Moore--Penrose algorithm to compute the pseudo-\/inverse of a matrix }{\pageref{moore__penrose__pseudo__inverse_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{multipath__algo__own__norm__distr__test_8c}{multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test.\+c}} \\*Example of the algorithm for the recognition and mitigation of multipath effects }{\pageref{multipath__algo__own__norm__distr__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{multipath__algo__own__norm__distr__test_8h}{multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test.\+h}} \\*Example of the algorithm for the recognition and mitigation of multipath effects }{\pageref{multipath__algo__own__norm__distr__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{multipath__dist__detection__mitigation_8c}{multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c}} \\*Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm }{\pageref{multipath__dist__detection__mitigation_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{multipath__dist__detection__mitigation_8h}{multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+h}} \\*Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm }{\pageref{multipath__dist__detection__mitigation_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{newton__raphson_8c}{newton\+\_\+raphson.\+c}} \\*Implement the Newton--Raphson algorithm }{\pageref{newton__raphson_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{newton__raphson_8h}{newton\+\_\+raphson.\+h}} \\*Implement the Newton--Raphson algorithm }{\pageref{newton__raphson_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{norm__dist__rnd__generator_8c}{norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+c}} \\*Generating normally distributed random numbers }{\pageref{norm__dist__rnd__generator_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{norm__dist__rnd__generator_8h}{norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h}} \\*Generating normally distributed random numbers }{\pageref{norm__dist__rnd__generator_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{optimization__test_8c}{optimization\+\_\+test.\+c}} \\*Examples of optimization algorithms }{\pageref{optimization__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{optimization__test_8h}{optimization\+\_\+test.\+h}} \\*Examples of optimization algorithms }{\pageref{optimization__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{pos__algos__common__test_8c}{pos\+\_\+algos\+\_\+common\+\_\+test.\+c}} \\*Examples of common algorithms of localization systems }{\pageref{pos__algos__common__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{pos__algos__common__test_8h}{pos\+\_\+algos\+\_\+common\+\_\+test.\+h}} \\*Examples of common algorithms of localization systems }{\pageref{pos__algos__common__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{position__optimization__test_8c}{position\+\_\+optimization\+\_\+test.\+c}} \\*Examples of optimization algorithms for localization systems }{\pageref{position__optimization__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{position__optimization__test_8h}{position\+\_\+optimization\+\_\+test.\+h}} \\*Examples of optimization algorithms for localization systems }{\pageref{position__optimization__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{pseudo__inverse_8h}{pseudo\+\_\+inverse.\+h}} \\*Compute the pseudo-\/inverse of a matrix }{\pageref{pseudo__inverse_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__common_8c}{qr\+\_\+common.\+c}} \\*Common definitions and implementations for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using }{\pageref{qr__common_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__common_8h}{qr\+\_\+common.\+h}} \\*Common definitions and implementations for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using }{\pageref{qr__common_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__givens_8c}{qr\+\_\+givens.\+c}} \\*Givens algorithm for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using Givens rotations. A = QR, where Q is an (m $\times $ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix }{\pageref{qr__givens_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__givens_8h}{qr\+\_\+givens.\+h}} \\*Givens algorithm for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using Givens rotations. A = QR, where Q is an (m $\times$ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix }{\pageref{qr__givens_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__householder_8c}{qr\+\_\+householder.\+c}} \\*Householder algorithm for the Q\+R-\/decomposition }{\pageref{qr__householder_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__householder_8h}{qr\+\_\+householder.\+h}} \\*Householder algorithm for the Q\+R-\/decomposition }{\pageref{qr__householder_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__pinv__test_8c}{qr\+\_\+pinv\+\_\+test.\+c}} \\*Examples of the Q\+R-\/based pseudo-\/inverse algorithm }{\pageref{qr__pinv__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__pinv__test_8h}{qr\+\_\+pinv\+\_\+test.\+h}} \\*Examples of the Q\+R-\/based pseudo-\/inverse algorithm }{\pageref{qr__pinv__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__pseudo__inverse_8c}{qr\+\_\+pseudo\+\_\+inverse.\+c}} \\*QR decomposition algorithms to compute the pseudo-\/inverse of a matrix }{\pageref{qr__pseudo__inverse_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{qr__pseudo__inverse_8h}{qr\+\_\+pseudo\+\_\+inverse.\+h}} \\*QR decomposition algorithms to compute the pseudo-\/inverse of a matrix }{\pageref{qr__pseudo__inverse_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{shell__sort_8c}{shell\+\_\+sort.\+c}} \\*Implement the Shell sort algorithm }{\pageref{shell__sort_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{shell__sort_8h}{shell\+\_\+sort.\+h}} \\*Implement the Shell sort algorithm }{\pageref{shell__sort_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{solve_8c}{solve.\+c}} \\*Enables to solve systems of linear equations Ax = b for x }{\pageref{solve_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{solve_8h}{solve.\+h}} \\*Enables to solve systems of linear equations Ax = b for x }{\pageref{solve_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{solve__test_8c}{solve\+\_\+test.\+c}} \\*Examples of solving linear equation systems }{\pageref{solve__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{solve__test_8h}{solve\+\_\+test.\+h}} \\*Examples of solving linear equation systems }{\pageref{solve__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{svd_8c}{svd.\+c}} \\*Algorithm for the Singular Value Decomposition (S\+VD). Provide necessary methods to compute the compact S\+VD of a matrix. A = U$\ast$\+S$\ast$V, where U is a (m x l) orthogonal matrix, S is a (l x l) diagonal matrix, V is a (l x n) orthogonal matrix, and l = min(m,n). The S\+VD is computed by using the Golub--Kahan--Reinsch algorithm that works in two phases\+: bidiagonalization and a reduction to the diagonal form phase }{\pageref{svd_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{svd_8h}{svd.\+h}} \\*Algorithm for the Singular Value Decomposition (S\+VD) }{\pageref{svd_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{svd__test_8c}{svd\+\_\+test.\+c}} \\*Examples of the S\+VD algorithm }{\pageref{svd__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{svd__test_8h}{svd\+\_\+test.\+h}} \\*Examples of the S\+VD algorithm }{\pageref{svd__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{trilateration_8c}{trilateration.\+c}} \\*Implement the trilateration algorithm }{\pageref{trilateration_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{trilateration_8h}{trilateration.\+h}} \\*Implement the trilateration algorithm }{\pageref{trilateration_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{utils_8c}{utils.\+c}} \\*Utilities for linear algebra. Utility-\/functions are needed by the linear algebra-\/module as well as other modules such as the position algorithm-\/module }{\pageref{utils_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{utils_8h}{utils.\+h}} \\*Utilities for linear algebra }{\pageref{utils_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{utils__test_8c}{utils\+\_\+test.\+c}} \\*Examples of the utility functions }{\pageref{utils__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{utils__test_8h}{utils\+\_\+test.\+h}} \\*Examples of the utility functions }{\pageref{utils__test_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{vector_8c}{vector.\+c}} \\*Vector computations. Vector computations include operations such as addition, subtraction, and inner product (dot product) }{\pageref{vector_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{vector_8h}{vector.\+h}} \\*Vector computations }{\pageref{vector_8h}}{}
+\item\contentsline{section}{\mbox{\hyperlink{vector__test_8c}{vector\+\_\+test.\+c}} \\*Examples of vector computations }{\pageref{vector__test_8c}}{}
+\item\contentsline{section}{\mbox{\hyperlink{vector__test_8h}{vector\+\_\+test.\+h}} \\*Examples of vector computations }{\pageref{vector__test_8h}}{}
+\end{DoxyCompactList}
diff --git a/doc/doxygen/latex/fsolve_8c.tex b/doc/doxygen/latex/fsolve_8c.tex
new file mode 100644
index 0000000..6352063
--- /dev/null
+++ b/doc/doxygen/latex/fsolve_8c.tex
@@ -0,0 +1,79 @@
+\hypertarget{fsolve_8c}{}\doxysection{fsolve.\+c File Reference}
+\label{fsolve_8c}\index{fsolve.c@{fsolve.c}}
+
+
+Solve multi-\/variant nonlinear equation systems.  
+
+
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}fsolve.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}newton\+\_\+raphson.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}damped\+\_\+newton\+\_\+raphson.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{fsolve_8c_a690a05654627b94634ffed0893946ba7}{fsolve}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t x0\+\_\+length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+arr\mbox{[}$\,$\mbox{]}, enum \mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}{N\+O\+N\+\_\+\+L\+I\+N\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}} algo, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}x0\+\_\+length\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Solve systems of multi-\/variant nonlinear equations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Solve multi-\/variant nonlinear equation systems. 
+
+The multi-\/variant nonlinear equation systems are solved using damped or the Newton--Raphson algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{fsolve_8c_a690a05654627b94634ffed0893946ba7}\label{fsolve_8c_a690a05654627b94634ffed0893946ba7}} 
+\index{fsolve.c@{fsolve.c}!fsolve@{fsolve}}
+\index{fsolve@{fsolve}!fsolve.c@{fsolve.c}}
+\doxysubsubsection{\texorpdfstring{fsolve()}{fsolve()}}
+{\footnotesize\ttfamily uint8\+\_\+t fsolve (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{x0\+\_\+length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{enum \mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}{N\+O\+N\+\_\+\+L\+I\+N\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}}}]{algo,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}x0\+\_\+length\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Solve systems of multi-\/variant nonlinear equations. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. The user can choose between the damped or the Newton--Raphson algorithms.
+
+\begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+length} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+arr\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em algo} & damped or the Newton--Raphson algorithm. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & estimated (solution) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 29 of file fsolve.\+c.
+
+
+
+References damped\+\_\+newton\+\_\+raphson(), Damped\+\_\+\+Newton\+\_\+\+Raphson, Newton\+\_\+\+Raphson, and newton\+\_\+raphson().
+
+
+
+Referenced by fsolve\+\_\+test().
+
diff --git a/doc/doxygen/latex/fsolve_8h.tex b/doc/doxygen/latex/fsolve_8h.tex
new file mode 100644
index 0000000..6820aa9
--- /dev/null
+++ b/doc/doxygen/latex/fsolve_8h.tex
@@ -0,0 +1,106 @@
+\hypertarget{fsolve_8h}{}\doxysection{fsolve.\+h File Reference}
+\label{fsolve_8h}\index{fsolve.h@{fsolve.h}}
+
+
+Solve multi-\/variant nonlinear equation systems.  
+
+
+\doxysubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum \mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}{N\+O\+N\+\_\+\+L\+I\+N\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}} \{ \mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206a44c226e2406536a0eba3ee940a4a7117}{Newton\+\_\+\+Raphson}}, 
+\mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206a99bd092827a3e3f95abceb5f6b0c1783}{Damped\+\_\+\+Newton\+\_\+\+Raphson}}
+ \}
+\begin{DoxyCompactList}\small\item\em Possible algorithms to solve multi-\/variant nonlinear equation systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{fsolve_8h_a690a05654627b94634ffed0893946ba7}{fsolve}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t x0\+\_\+length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+arr\mbox{[}$\,$\mbox{]}, enum \mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}{N\+O\+N\+\_\+\+L\+I\+N\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}} algo, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}x0\+\_\+length\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Solve systems of multi-\/variant nonlinear equations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Solve multi-\/variant nonlinear equation systems. 
+
+The multi-\/variant nonlinear equation systems are solved using damped or the Newton--Raphson algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Enumeration Type Documentation}
+\mbox{\Hypertarget{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}\label{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}} 
+\index{fsolve.h@{fsolve.h}!NON\_LIN\_ALGORITHM@{NON\_LIN\_ALGORITHM}}
+\index{NON\_LIN\_ALGORITHM@{NON\_LIN\_ALGORITHM}!fsolve.h@{fsolve.h}}
+\doxysubsubsection{\texorpdfstring{NON\_LIN\_ALGORITHM}{NON\_LIN\_ALGORITHM}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}{N\+O\+N\+\_\+\+L\+I\+N\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}}}
+
+
+
+Possible algorithms to solve multi-\/variant nonlinear equation systems. 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{Newton\_Raphson@{Newton\_Raphson}!fsolve.h@{fsolve.h}}\index{fsolve.h@{fsolve.h}!Newton\_Raphson@{Newton\_Raphson}}}\mbox{\Hypertarget{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206a44c226e2406536a0eba3ee940a4a7117}\label{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206a44c226e2406536a0eba3ee940a4a7117}} 
+Newton\+\_\+\+Raphson&Newton--Raphson algorithm. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{Damped\_Newton\_Raphson@{Damped\_Newton\_Raphson}!fsolve.h@{fsolve.h}}\index{fsolve.h@{fsolve.h}!Damped\_Newton\_Raphson@{Damped\_Newton\_Raphson}}}\mbox{\Hypertarget{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206a99bd092827a3e3f95abceb5f6b0c1783}\label{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206a99bd092827a3e3f95abceb5f6b0c1783}} 
+Damped\+\_\+\+Newton\+\_\+\+Raphson&Damped Newton--Raphson algorithm. \\
+\hline
+
+\end{DoxyEnumFields}
+
+
+Definition at line 30 of file fsolve.\+h.
+
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{fsolve_8h_a690a05654627b94634ffed0893946ba7}\label{fsolve_8h_a690a05654627b94634ffed0893946ba7}} 
+\index{fsolve.h@{fsolve.h}!fsolve@{fsolve}}
+\index{fsolve@{fsolve}!fsolve.h@{fsolve.h}}
+\doxysubsubsection{\texorpdfstring{fsolve()}{fsolve()}}
+{\footnotesize\ttfamily uint8\+\_\+t fsolve (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{x0\+\_\+length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{enum \mbox{\hyperlink{fsolve_8h_a806eab83c4b4a937b86ebcfd984f9206}{N\+O\+N\+\_\+\+L\+I\+N\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}}}]{algo,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}x0\+\_\+length\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Solve systems of multi-\/variant nonlinear equations. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. The user can choose between the damped or the Newton--Raphson algorithms.
+
+\begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+length} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+arr\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em algo} & damped or the Newton--Raphson algorithm. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & estimated (solution) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 29 of file fsolve.\+c.
+
+
+
+References damped\+\_\+newton\+\_\+raphson(), Damped\+\_\+\+Newton\+\_\+\+Raphson, Newton\+\_\+\+Raphson, and newton\+\_\+raphson().
+
+
+
+Referenced by fsolve\+\_\+test().
+
diff --git a/doc/doxygen/latex/fsolve__test_8c.tex b/doc/doxygen/latex/fsolve__test_8c.tex
new file mode 100644
index 0000000..7f0a648
--- /dev/null
+++ b/doc/doxygen/latex/fsolve__test_8c.tex
@@ -0,0 +1,216 @@
+\hypertarget{fsolve__test_8c}{}\doxysection{fsolve\+\_\+test.\+c File Reference}
+\label{fsolve__test_8c}\index{fsolve\_test.c@{fsolve\_test.c}}
+
+
+Examples of solving non-\/linear equation systems.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$stdlib.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$complex.\+h$>$}\newline
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}damped\+\_\+newton\+\_\+raphson.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}newton\+\_\+raphson.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}fsolve.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{fsolve__test_8c_aefd0d3fa000963221de289a3933b7c9b}{get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+f1\+\_\+}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f1\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em The non-\/linear system f1. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{fsolve__test_8c_a3344cde9f5060d7ab962fbaaf1cdd88f}{get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+\+J1\+\_\+}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J1\mbox{[}$\,$\mbox{]}\mbox{[}2\mbox{]})
+\begin{DoxyCompactList}\small\item\em The Jacobian matrix of the non-\/linear system $ f_1 $. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{fsolve__test_8c_ae36fe8e55d180d348ef331efbbc5b908}{get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+f2\+\_\+}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f2\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em The non-\/linear system $ f_2 $. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{fsolve__test_8c_ab95955c80b1896b9e75a04faa4ce742e}{get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+\+J2\+\_\+}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J2\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em The Jacobian matrix of the non-\/linear system $ f_2 $. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{fsolve__test_8c_a8f8a1fe785d5304202601b95e1e6871a}{get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+f3\+\_\+}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f3\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em The non-\/linear system $ f_3 $. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{fsolve__test_8c_a6686e4624961ca943bebb616e763a100}{get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+\+J3\+\_\+}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J3\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em The Jacobian matrix of the non-\/linear system $ f_3 $. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{fsolve__test_8c_a53bbdeb6ad57eeb4b512c4620b64cc37}\label{fsolve__test_8c_a53bbdeb6ad57eeb4b512c4620b64cc37}} 
+void \mbox{\hyperlink{fsolve__test_8c_a53bbdeb6ad57eeb4b512c4620b64cc37}{fsolve\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of solving non-\/linear equation systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of solving non-\/linear equation systems. 
+
+Solving non-\/linear equation systems examples (see \mbox{\hyperlink{fsolve_8h}{fsolve}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{fsolve__test_8c_aefd0d3fa000963221de289a3933b7c9b}\label{fsolve__test_8c_aefd0d3fa000963221de289a3933b7c9b}} 
+\index{fsolve\_test.c@{fsolve\_test.c}!get\_non\_lin\_sys\_f1\_@{get\_non\_lin\_sys\_f1\_}}
+\index{get\_non\_lin\_sys\_f1\_@{get\_non\_lin\_sys\_f1\_}!fsolve\_test.c@{fsolve\_test.c}}
+\doxysubsubsection{\texorpdfstring{get\_non\_lin\_sys\_f1\_()}{get\_non\_lin\_sys\_f1\_()}}
+{\footnotesize\ttfamily void get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+f1\+\_\+ (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f1\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+The non-\/linear system f1. 
+
+$ f_1 \left(x_1, x_2 \right) = \begin{bmatrix} x_1^3 + x_2 - 1 \\ x_2^3 - x_1 + 1 \\ \end{bmatrix} $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the $ x_1 $ and $ x_2 $ values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em f1\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the $ f_1 $ function values. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 54 of file fsolve\+\_\+test.\+c.
+
+
+
+Referenced by fsolve\+\_\+test().
+
+\mbox{\Hypertarget{fsolve__test_8c_ae36fe8e55d180d348ef331efbbc5b908}\label{fsolve__test_8c_ae36fe8e55d180d348ef331efbbc5b908}} 
+\index{fsolve\_test.c@{fsolve\_test.c}!get\_non\_lin\_sys\_f2\_@{get\_non\_lin\_sys\_f2\_}}
+\index{get\_non\_lin\_sys\_f2\_@{get\_non\_lin\_sys\_f2\_}!fsolve\_test.c@{fsolve\_test.c}}
+\doxysubsubsection{\texorpdfstring{get\_non\_lin\_sys\_f2\_()}{get\_non\_lin\_sys\_f2\_()}}
+{\footnotesize\ttfamily void get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+f2\+\_\+ (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f2\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+The non-\/linear system $ f_2 $. 
+
+$ f_2 \left( x_1, x_2, x_3 \right) = \begin{bmatrix} 3 x_1 - \cos\left( x_2 \times x_3 \right) - \dfrac{1}{2} \\ x_1^2 - 81 \left( x_2 + 0.1 \right)^2 + \sin(x_3) + 1.06 \\ \exp \left( -x1 \times x_2 \right) + 20 x_3 + \dfrac{10 \pi -3}{3} \\ \end{bmatrix} $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the $ x_1 $, $ x_2 $, and $ x_3 $ values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em f2\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the $ f_2 $ function values. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 110 of file fsolve\+\_\+test.\+c.
+
+
+
+References M\+\_\+\+PI.
+
+
+
+Referenced by fsolve\+\_\+test().
+
+\mbox{\Hypertarget{fsolve__test_8c_a8f8a1fe785d5304202601b95e1e6871a}\label{fsolve__test_8c_a8f8a1fe785d5304202601b95e1e6871a}} 
+\index{fsolve\_test.c@{fsolve\_test.c}!get\_non\_lin\_sys\_f3\_@{get\_non\_lin\_sys\_f3\_}}
+\index{get\_non\_lin\_sys\_f3\_@{get\_non\_lin\_sys\_f3\_}!fsolve\_test.c@{fsolve\_test.c}}
+\doxysubsubsection{\texorpdfstring{get\_non\_lin\_sys\_f3\_()}{get\_non\_lin\_sys\_f3\_()}}
+{\footnotesize\ttfamily void get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+f3\+\_\+ (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f3\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+The non-\/linear system $ f_3 $. 
+
+$ f_3 \left( x_1, x_2, x_3 \right) = \begin{bmatrix} \exp \left( -x_1 x_2 \right) + \log \left( x_1 \right)-\exp \left( -2 \right) \\ \exp \left( x_1 \right) - \dfrac{\sqrt{x_3}}{x_1} - \exp \left( 1 \right) + 2\\ x_1 + x_2 - x_2 x_3 + 5 \\ \end{bmatrix} $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the $ x_1 $, $ x_2 $, and $ x_3 $ values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em f3\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the $ f_3 $ function values. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 174 of file fsolve\+\_\+test.\+c.
+
+
+
+Referenced by fsolve\+\_\+test().
+
+\mbox{\Hypertarget{fsolve__test_8c_a3344cde9f5060d7ab962fbaaf1cdd88f}\label{fsolve__test_8c_a3344cde9f5060d7ab962fbaaf1cdd88f}} 
+\index{fsolve\_test.c@{fsolve\_test.c}!get\_non\_lin\_sys\_J1\_@{get\_non\_lin\_sys\_J1\_}}
+\index{get\_non\_lin\_sys\_J1\_@{get\_non\_lin\_sys\_J1\_}!fsolve\_test.c@{fsolve\_test.c}}
+\doxysubsubsection{\texorpdfstring{get\_non\_lin\_sys\_J1\_()}{get\_non\_lin\_sys\_J1\_()}}
+{\footnotesize\ttfamily void get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+\+J1\+\_\+ (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J1\mbox{[}$\,$\mbox{]}\mbox{[}2\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+The Jacobian matrix of the non-\/linear system $ f_1 $. 
+
+$ J_1 \left( x_1, x_2\right) = \begin{bmatrix} 3 \times x_1^2 & 1 \\ -1 & 3 \times x_2^2 \\ \end{bmatrix} $
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the $ x_1 $ and $ x_2 $ values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J1\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the Jacobian function $ J_1 $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 80 of file fsolve\+\_\+test.\+c.
+
+
+
+Referenced by fsolve\+\_\+test().
+
+\mbox{\Hypertarget{fsolve__test_8c_ab95955c80b1896b9e75a04faa4ce742e}\label{fsolve__test_8c_ab95955c80b1896b9e75a04faa4ce742e}} 
+\index{fsolve\_test.c@{fsolve\_test.c}!get\_non\_lin\_sys\_J2\_@{get\_non\_lin\_sys\_J2\_}}
+\index{get\_non\_lin\_sys\_J2\_@{get\_non\_lin\_sys\_J2\_}!fsolve\_test.c@{fsolve\_test.c}}
+\doxysubsubsection{\texorpdfstring{get\_non\_lin\_sys\_J2\_()}{get\_non\_lin\_sys\_J2\_()}}
+{\footnotesize\ttfamily void get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+\+J2\+\_\+ (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J2\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+The Jacobian matrix of the non-\/linear system $ f_2 $. 
+
+$ J_2 \left( x_1, x_2, x_3 \right) = \begin{bmatrix} 3 & x_3 \sin\left( x_2 x_3 \right) & x_2 \sin\left( x_2 x_3 \right) \\ 2 x_1 & -162 x2 - \dfrac{81}{5} & \cos(x_3) \\ -x_2 \exp\left( -x_1 x_2 \right) & -x_1 \exp\left( -x_1 x_2 \right) & 20 \end{bmatrix} $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the $ x_1 $, $ x_2 $, and $ x_3 $ values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J2\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the Jacobian function $ J_2 $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 139 of file fsolve\+\_\+test.\+c.
+
+
+
+Referenced by fsolve\+\_\+test().
+
+\mbox{\Hypertarget{fsolve__test_8c_a6686e4624961ca943bebb616e763a100}\label{fsolve__test_8c_a6686e4624961ca943bebb616e763a100}} 
+\index{fsolve\_test.c@{fsolve\_test.c}!get\_non\_lin\_sys\_J3\_@{get\_non\_lin\_sys\_J3\_}}
+\index{get\_non\_lin\_sys\_J3\_@{get\_non\_lin\_sys\_J3\_}!fsolve\_test.c@{fsolve\_test.c}}
+\doxysubsubsection{\texorpdfstring{get\_non\_lin\_sys\_J3\_()}{get\_non\_lin\_sys\_J3\_()}}
+{\footnotesize\ttfamily void get\+\_\+non\+\_\+lin\+\_\+sys\+\_\+\+J3\+\_\+ (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J3\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+The Jacobian matrix of the non-\/linear system $ f_3 $. 
+
+$ J_3 \left( x_1, x_2, x_3 \right) = \begin{bmatrix} \dfrac{1}{x_1}-x_2 \exp\left(-x_1 x_2\right) & -x_1\exp\left(-x_1 x_2\right) & 0 \\ \exp\left(x_1\right) + \dfrac{\sqrt{x_3}}{x_1^2} & 0 & \dfrac{-1}{2x_1\sqrt{x_3}} \\ 1 & 1-x_3 & -x_2 \end{bmatrix} $
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the $ x_1 $, $ x_2 $, and $ x_3 $ values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J3\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the Jacobian function $ J_3 $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 210 of file fsolve\+\_\+test.\+c.
+
+
+
+Referenced by fsolve\+\_\+test().
+
diff --git a/doc/doxygen/latex/fsolve__test_8h.tex b/doc/doxygen/latex/fsolve__test_8h.tex
new file mode 100644
index 0000000..2f7a2e4
--- /dev/null
+++ b/doc/doxygen/latex/fsolve__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{fsolve__test_8h}{}\doxysection{fsolve\+\_\+test.\+h File Reference}
+\label{fsolve__test_8h}\index{fsolve\_test.h@{fsolve\_test.h}}
+
+
+Examples of solving non-\/linear equation systems.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{fsolve__test_8h_a53bbdeb6ad57eeb4b512c4620b64cc37}\label{fsolve__test_8h_a53bbdeb6ad57eeb4b512c4620b64cc37}} 
+void \mbox{\hyperlink{fsolve__test_8h_a53bbdeb6ad57eeb4b512c4620b64cc37}{fsolve\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of solving non-\/linear equation systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of solving non-\/linear equation systems. 
+
+Solving non-\/linear equation systems examples (see \mbox{\hyperlink{fsolve_8h}{fsolve}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/getting-started.tex b/doc/doxygen/latex/getting-started.tex
new file mode 100644
index 0000000..ed0f121
--- /dev/null
+++ b/doc/doxygen/latex/getting-started.tex
@@ -0,0 +1,192 @@
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi
+\end{DoxyAuthor}
+\hypertarget{getting-started_downloading-RcdMathLib-code}{}\doxysection{Downloading Rcd\+Math\+Lib code}\label{getting-started_downloading-RcdMathLib-code}
+You can obtain the latest Rcd\+Math\+Lib code from our \href{https://github.com/RIOT-OS/}{\texttt{ Github}} repository either by \href{https://github.com/RIOT-OS/RIOT/releases}{\texttt{ downloading the latest tarball}} or by cloning the \href{https://github.com/RIOT-OS/RIOT}{\texttt{ git repository}}.
+
+In order to clone the R\+I\+OT repository, you need the \href{http://git-scm.com/}{\texttt{ Git revision control system}} and run the following command\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git clone git://github.com/RIOT-\/OS/RIOT.git}
+\end{DoxyCode}
+\hypertarget{getting-started_compiling-RcdMathLib}{}\doxysection{Compiling Rcd\+Math\+Lib}\label{getting-started_compiling-RcdMathLib}
+\hypertarget{getting-started_setting-up-a-toolchain-full-fledge}{}\doxysubsection{Setting up a toolchain for full-\/fledged devices}\label{getting-started_setting-up-a-toolchain-full-fledge}
+Rcd\+Math\+Lib can be run on full-\/fledged devices such as a Personal Computer (PC) or a server. It can also be executed on the embedded system Raspberry Pi running an Operating System (OS) such as the Raspbian or the Ubuntu Core. For platforms based on full-\/fledged O\+Ss like the Linux or Windows, we recommend the G\+NU Compiler Collection (G\+CC). We also recommend the use of the Eclipse (I\+DE).
+
+The P\+A\+TH environment variable should be set with bin-\/directory of the G\+CC compiler. On a typical shell like bash or zsh this can be done using export, e.\+g.
+
+\begin{quote}
+export P\+A\+TH=\$\{P\+A\+TH\}\+:/path/to/gcc/bin \end{quote}
+
+
+For windows, add the bin-\/directory to your P\+A\+TH under System Properties-\/$>$Advanced-\/$>$ Environment Variables, e.\+g.
+
+\begin{quote}
+\char`\"{}\+C\+:\textbackslash{}gcc\textbackslash{}bin\char`\"{} \end{quote}
+\hypertarget{getting-started_setting-up-a-toolchain-res-lim}{}\doxysubsection{Setting up a toolchain for resource-\/limited devices}\label{getting-started_setting-up-a-toolchain-res-lim}
+Depending on the hardware you want to use, you need to first install a corresponding toolchain. We recommend the use of the \href{https://riot-os.org/}{\texttt{ R\+I\+O\+T-\/\+OS}}, since it supports 8-\/bit platforms (e.\+g. Arduino Mega 2560), 16-\/bit platforms (e.\+g. M\+S\+P430), and 32-\/bit platforms (e.\+g. A\+RM). The R\+I\+O\+T-\/\+OS is an open source IoT operating system developed at the \textquotesingle{}\textquotesingle{}Freie Universität Berlin\textquotesingle{}\textquotesingle{}. In general, an OS allows the management and sharing of resources as well as the development of multi-\/tasking applications in a computer system. The Wiki on R\+I\+OT\textquotesingle{}s Github page contains a lot of information that can help you with your platform\+:
+
+
+\begin{DoxyItemize}
+\item \href{https://github.com/RIOT-OS/RIOT/wiki/Family:-ARM}{\texttt{ A\+R\+M-\/based platforms}}
+\item \href{https://github.com/RIOT-OS/RIOT/wiki/Family:-MSP430}{\texttt{ TI M\+S\+P430}}
+\item \href{https://github.com/RIOT-OS/RIOT/wiki/Family\%3A-ATmega}{\texttt{ Atmel A\+Tmega}}
+\item \href{https://github.com/RIOT-OS/RIOT/wiki/Family:-native}{\texttt{ native}}
+\end{DoxyItemize}\hypertarget{getting-started_the-build-system-full-fledge}{}\doxysubsection{The build system for full-\/fledged devices}\label{getting-started_the-build-system-full-fledge}
+Rcd\+Math\+Lib can be built using the \href{https://www.eclipse.org/}{\texttt{ Eclipse I\+DE}} for C/\+C++ Developers. The simplest way to compile and link an application with the Rcd\+Math\+Lib is\+: Firstly, to download \href{https://git.imp.fu-berlin.de/zkasmi/test_my_lib/blob/master/RcdMathLib_eclipse_version.zip}{\texttt{ Rcd\+Math\+Lib\+\_\+eclipse\+\_\+version.\+zip}} file or to clone it\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git clone git@git.imp.fu-\/berlin.de:zkasmi/test\_my\_lib.git}
+\end{DoxyCode}
+
+
+After cloning or downloading the Rcd\+Math\+Lib, the Eclipse version of the Rcd\+Math\+Lib can be used as follows\+:
+\begin{DoxyEnumerate}
+\item Create a workspace folder (e.\+g. rcd\+\_\+math\+\_\+lib\+\_\+workspace).
+\item Start the Eclipse I\+DE and browse to the created workspace folder.
+\item Open File-\/$>$Import-\/$>$General.
+\item Select \textquotesingle{}\textquotesingle{}Existing Project into Workspace\textquotesingle{}\textquotesingle{} from the Selection Wizard.
+\item Select Next-\/$>$\textquotesingle{}\textquotesingle{}archive file\textquotesingle{}\textquotesingle{}-\/-\/$>$Browse.
+\item After Browsing to the \href{https://git.imp.fu-berlin.de/zkasmi/test_my_lib/blob/master/RcdMathLib_eclipse_version.zip}{\texttt{ Rcd\+Math\+Lib\+\_\+eclipse\+\_\+version.\+zip}} file, click on Finish.
+\item Compile the whole project.
+\end{DoxyEnumerate}
+
+Another method to use the Rcd\+Math\+Lib in the Eclipse I\+DE is\+:
+\begin{DoxyEnumerate}
+\item Clone the whole Rcd\+Math\+Lib version for full-\/fledged devices\+: 
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git clone git@git.imp.fu-\/berlin.de:zkasmi/my\_lib\_full\_fledged\_devices.git}
+\end{DoxyCode}
+
+\item Create a new C project by choosing the project type under Executable\+: {\ttfamily Hello World A\+N\+SI C Project}, as well as the {\ttfamily Cross G\+CC} Tool-\/chains.
+\item Try to compile and execute the {\ttfamily Hello World A\+N\+SI C Project}.
+\item Copy the Rcd\+Math\+Lib-\/ and the examples-\/directories, as well as the \textquotesingle{}eclipse\+\_\+path\+\_\+includes\+\_\+settings.\+xml\textquotesingle{} configuration file into the src-\/directory of your project.
+\item Import the \textquotesingle{}eclipse\+\_\+path\+\_\+includes\+\_\+settings.\+xml\textquotesingle{} file as follows\+:
+
+\begin{quote}
+
+\begin{DoxyItemize}
+\item Open File -\/$>$ Import -\/$>$ C/\+C++ and Select \textquotesingle{}\textquotesingle{}C/\+C++ Project Settings\textquotesingle{}\textquotesingle{} from the Selection Wizard.
+\item Click Next-\/$>$\textquotesingle{}\textquotesingle{}Select Settings file\textquotesingle{}\textquotesingle{}-\/-\/$>$Browse.
+\item After Browsing to the xml-\/configuration file, click on Finish. 
+\end{DoxyItemize}\end{quote}
+
+\item Compile the whole project.
+\item Optional\+: replace the main()-\/function with the main.\+c file of the cloned Rcd\+Math\+Lib version for full-\/fledged devices.
+\end{DoxyEnumerate}
+
+Third method (intern)\+: Set up the \href{https://www.eclipse.org/}{\texttt{ Eclipse I\+DE}} as follows\+:
+\begin{DoxyEnumerate}
+\item Create a new C project, choose the project type under Executable\+: {\ttfamily Hello World A\+N\+SI C Project}, as well as the {\ttfamily Cross G\+CC} Tool-\/chains.
+\item Try to compile and execute the {\ttfamily Hello World A\+N\+SI C Project}.
+\item Copy the Rcd\+Math\+Lib-\/directory into the src-\/directory.
+\item Replace the file containing the main()-\/function with the main.\+c file of the Rcd\+Math\+Lib.
+\item Setting the include-\/paths of the modules in the Eclipse I\+DE\+: Properties/\+Paths and Symbols/\+G\+NU C
+\end{DoxyEnumerate}\hypertarget{getting-started_the-build-system-res-lim}{}\doxysubsection{The build system for resource-\/limited devices}\label{getting-started_the-build-system-res-lim}
+Rcd\+Math\+Lib and R\+I\+OT use \href{https://www.gnu.org/software/make/}{\texttt{ G\+NU make}} as build system. The simplest way to compile and link an application with Rcd\+Math\+Lib, is to set up a Makefile providing at least the following variables\+:
+
+
+\begin{DoxyItemize}
+\item {\ttfamily A\+P\+P\+L\+I\+C\+A\+T\+I\+ON}\+: should contain the (unique) name of your application
+\item {\ttfamily B\+O\+A\+RD}\+: specifies the platform the application should be build for by default
+\item {\ttfamily R\+I\+O\+T\+B\+A\+SE}\+: specifies the path to the copy of the R\+I\+OT repository (note, the {\ttfamily } macro can be used to give a relative path)
+\item {\ttfamily R\+C\+D\+M\+A\+T\+H\+L\+IB}\+: specifies the path to the copy of the Rcd\+Math\+Lib repository (note, the {\ttfamily } macro can be used to give a relative path)
+\item {\ttfamily U\+S\+E\+M\+O\+D\+U\+LE}\+: specifies the module of the Rcd\+Math\+Lib that you may want to use
+\end{DoxyItemize}
+
+Additionally it has to include the {\ttfamily Makefile.\+include}, located in Rcd\+Math\+Lib\textquotesingle{}s as well as R\+I\+OT\textquotesingle{}s root directories. A minimal application Makefile looks like this\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\# a minimal application Makefile}
+\DoxyCodeLine{APPLICATION = mini-\/makefile}
+\DoxyCodeLine{BOARD ?= native}
+\DoxyCodeLine{RIOTBASE ?= \$(CURDIR)/../RIOT}
+\DoxyCodeLine{RCDMATHLIB ?= \$(CURDIR)/../RcdMathLib}
+\DoxyCodeLine{USEMODULE += basic\_operations}
+\DoxyCodeLine{}
+\DoxyCodeLine{include \$(RIOTBASE)/MicroPosMath-\/Lib/Makefile.include}
+\DoxyCodeLine{include \$(RIOTBASE)/Makefile.include}
+\end{DoxyCode}
+
+
+The {\ttfamily ?=} operator can be used in order to allow overwriting variables from the command line. For example, the target platform can be specified from the command line as follows\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{make BOARD=stm32f4discovery}
+\end{DoxyCode}
+
+
+In this case the S\+T\+M32\+F4 discovery board is specified. Furthermore, the basic operations sub-\/module is selected by the {\ttfamily U\+S\+E\+M\+O\+D\+U\+LE} macro.
+
+Other sub-\/modules such as the matrix decompositions or utilities modules can be selected, e.\+g.\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{USEMODULE += matrix\_decompositions }
+\DoxyCodeLine{USEMODULE += utilities  }
+\end{DoxyCode}
+ The dependency of the Rcd\+Math\+Lib modules and sub-\/modules to each other is automatically calculated by special Makefiles located in the module directories.
+
+Besides typical targets like {\ttfamily clean}, {\ttfamily all}, or {\ttfamily doc}, R\+I\+OT provides the special targets {\ttfamily flash} and {\ttfamily term} to invoke the configured flashing and terminal tools for the specified platform. These targets use the variable {\ttfamily P\+O\+RT} for the serial communication to the device. Neither this variable nor the targets {\ttfamily flash} and {\ttfamily term} are mandatory for the native port.
+
+Unless specified otherwise, make will create an elf-\/file as well as an Intel hex file in the {\ttfamily bin} folder of your application directory.
+
+Please visit the \href{https://github.com/RIOT-OS/RIOT/wiki/The-Make-Build-System}{\texttt{ Wiki}} to learn more about the build system of the R\+I\+OT.\hypertarget{getting-started_building-and-executing-an-example-res-lim}{}\doxysubsection{Building and executing an example for resource-\/limited devices}\label{getting-started_building-and-executing-an-example-res-lim}
+Rcd\+Math\+Lib provides a number of examples in the {\ttfamily examples/} directory. Every example has a R\+E\+A\+D\+ME that documents its usage and its purpose. Furthermore the examples are described in the doc-\/directory. You can build your own application or the examples by typing
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{make BOARD=stm32f4discovery}
+\end{DoxyCode}
+
+
+or
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{make all BOARD=stm32f4discovery}
+\end{DoxyCode}
+
+
+into your shell.
+
+To flash the application to a board just type
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{make flash BOARD=stm32f4discovery}
+\end{DoxyCode}
+
+
+You can then access the board via the serial interface\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{make term BOARD=stm32f4discovery}
+\end{DoxyCode}
+
+
+If you are using multiple boards you can use the {\ttfamily P\+O\+RT} macro to specify the serial interface\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{make term BOARD=stm32f4discovery PORT=/dev/ttyACM1}
+\end{DoxyCode}
+
+
+We use {\ttfamily pyterm} as the default terminal application. It is shipped with R\+I\+OT in the {\ttfamily dist/tools/pyterm/} directory. If you choose to use another terminal program you can set {\ttfamily T\+E\+R\+M\+P\+R\+OG} (and if need be the {\ttfamily T\+E\+R\+M\+F\+L\+A\+GS}) macros\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{make -\/C examples/gnrc\_networking/ term \(\backslash\)}
+\DoxyCodeLine{    BOARD=samr21-\/xpro \(\backslash\)}
+\DoxyCodeLine{    TERMPROG=gtkterm \(\backslash\)}
+\DoxyCodeLine{    TERMFLAGS="-\/s 115200 -\/p /dev/ttyACM0 -\/e"}
+\end{DoxyCode}
+
+
+Please visit the \href{https://github.com/RIOT-OS/RIOT/wiki}{\texttt{ Wiki}} to learn more about flashing devices. 
\ No newline at end of file
diff --git a/doc/doxygen/latex/givens__test_8c.tex b/doc/doxygen/latex/givens__test_8c.tex
new file mode 100644
index 0000000..4535235
--- /dev/null
+++ b/doc/doxygen/latex/givens__test_8c.tex
@@ -0,0 +1,26 @@
+\hypertarget{givens__test_8c}{}\doxysection{givens\+\_\+test.\+c File Reference}
+\label{givens__test_8c}\index{givens\_test.c@{givens\_test.c}}
+
+
+Examples of the Givens algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+givens.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{givens__test_8c_a7b8199da35e2aec77e76bbb9c52a28ae}\label{givens__test_8c_a7b8199da35e2aec77e76bbb9c52a28ae}} 
+void \mbox{\hyperlink{givens__test_8c_a7b8199da35e2aec77e76bbb9c52a28ae}{givens\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Givens algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Givens algorithm. 
+
+Givens algorithm examples (see \mbox{\hyperlink{qr__givens_8h}{qr\+\_\+givens.\+h}} the \char`\"{}\+Givens\char`\"{} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/givens__test_8h.tex b/doc/doxygen/latex/givens__test_8h.tex
new file mode 100644
index 0000000..2287040
--- /dev/null
+++ b/doc/doxygen/latex/givens__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{givens__test_8h}{}\doxysection{givens\+\_\+test.\+h File Reference}
+\label{givens__test_8h}\index{givens\_test.h@{givens\_test.h}}
+
+
+Examples of the Givens algorithm.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{givens__test_8h_a7b8199da35e2aec77e76bbb9c52a28ae}\label{givens__test_8h_a7b8199da35e2aec77e76bbb9c52a28ae}} 
+void \mbox{\hyperlink{givens__test_8h_a7b8199da35e2aec77e76bbb9c52a28ae}{givens\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Givens algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Givens algorithm. 
+
+Givens algorithm examples (see \mbox{\hyperlink{qr__givens_8h}{qr\+\_\+givens.\+h}} the \char`\"{}\+Givens\char`\"{} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/group__basic__operations.tex b/doc/doxygen/latex/group__basic__operations.tex
new file mode 100644
index 0000000..3d02ef8
--- /dev/null
+++ b/doc/doxygen/latex/group__basic__operations.tex
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+\hypertarget{group__basic__operations}{}\doxysection{B\+A\+S\+I\+C\+\_\+\+O\+P\+E\+R\+A\+T\+I\+O\+NS}
+\label{group__basic__operations}\index{BASIC\_OPERATIONS@{BASIC\_OPERATIONS}}
+
+
+Matrix basic operations.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{matrix_8h}{matrix.\+h}}
+\begin{DoxyCompactList}\small\item\em Matrix computations. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{vector_8h}{vector.\+h}}
+\begin{DoxyCompactList}\small\item\em Vector computations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Matrix basic operations. 
+
+This module provides functions to perform basic matrix operations such as matrix addition, multiplication, or transposition.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__distance__based}{}\doxysection{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}
+\label{group__distance__based}\index{DISTANCE\_BASED@{DISTANCE\_BASED}}
+
+
+localization algorithms of distance-\/based localization systems.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{dist__based__fi_8h}{dist\+\_\+based\+\_\+fi.\+h}}
+\begin{DoxyCompactList}\small\item\em Error function of distance-\/based localization systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{dist__based__jacobian_8h}{dist\+\_\+based\+\_\+jacobian.\+h}}
+\begin{DoxyCompactList}\small\item\em Jacobian function of distance-\/based localization systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{dist__based__position_8h}{dist\+\_\+based\+\_\+position.\+h}}
+\begin{DoxyCompactList}\small\item\em Functions of distance-\/based localization systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+localization algorithms of distance-\/based localization systems. 
+
+The localization module contains functions to compute a position of a mobile device using distance measurements signals.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__examples}{}\doxysection{E\+X\+A\+M\+P\+L\+ES}
+\label{group__examples}\index{EXAMPLES@{EXAMPLES}}
+
+
+Examples of the Rcd\+Math\+Lib.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{matrix__test_8h}{matrix\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of matrix computations. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{vector__test_8h}{vector\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of vector computations. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{givens__test_8h}{givens\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of the Givens algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{householder__test_8h}{householder\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of the Householder algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{lu__decomp__test_8h}{lu\+\_\+decomp\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of the LU algorithm with pivoting. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{svd__test_8h}{svd\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of the S\+VD algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{moore__penrose__pinv__test_8h}{moore\+\_\+penrose\+\_\+pinv\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of the Moore--Penrose algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{qr__pinv__test_8h}{qr\+\_\+pinv\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of the Q\+R-\/based pseudo-\/inverse algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{solve__test_8h}{solve\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of solving linear equation systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{utils__test_8h}{utils\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of the utility functions. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{distance__based__test_8h}{distance\+\_\+based\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of localization algorithms of distance-\/based positioning systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{magnetic__based__test_8h}{magnetic\+\_\+based\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of localization algorithms of magnetic-\/based positioning systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{pos__algos__common__test_8h}{pos\+\_\+algos\+\_\+common\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of common algorithms of localization systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{multipath__algo__own__norm__distr__test_8h}{multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Example of the algorithm for the recognition and mitigation of multipath effects. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{position__optimization__test_8h}{position\+\_\+optimization\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms for localization systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{optimization__test_8h}{optimization\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{fsolve__test_8h}{fsolve\+\_\+test.\+h}}
+\begin{DoxyCompactList}\small\item\em Examples of solving non-\/linear equation systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Rcd\+Math\+Lib. 
+
+Includes examples of all Rcd\+Math\+Lib\textquotesingle{}s modules.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/group__linear__algebra.aux b/doc/doxygen/latex/group__linear__algebra.aux
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+\hypertarget{group__linear__algebra}{}\doxysection{L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}
+\label{group__linear__algebra}\index{LINEAR\_ALGEBRA@{LINEAR\_ALGEBRA}}
+
+
+Linear algebra operations.  
+
+
+\doxysubsection*{Modules}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{group__basic__operations}{B\+A\+S\+I\+C\+\_\+\+O\+P\+E\+R\+A\+T\+I\+O\+NS}}
+\begin{DoxyCompactList}\small\item\em Matrix basic operations. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__matrix__decompositions}{M\+A\+T\+R\+I\+X\+\_\+\+D\+E\+C\+O\+M\+P\+O\+S\+I\+T\+I\+O\+NS}}
+\begin{DoxyCompactList}\small\item\em Matrix decomposition algorithms. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__pseudo__inverse}{P\+S\+E\+U\+D\+O\+\_\+\+I\+N\+V\+E\+R\+SE}}
+\begin{DoxyCompactList}\small\item\em Algorithms to calculate the pseudo-\/inverse of a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__solve__linear__equations}{S\+O\+L\+V\+E\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+E\+Q\+U\+A\+T\+I\+O\+NS}}
+\begin{DoxyCompactList}\small\item\em Enables to solve systems of linear equations Ax = b for x. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__utilities}{U\+T\+I\+L\+I\+T\+I\+ES}}
+\begin{DoxyCompactList}\small\item\em Utilities for linear algebra. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Linear algebra operations. 
+
+The linear algebra module contains functions that are specific to vector and matrix operations, and other algebraic operations. This module is composed of five submodules\+: basic\+\_\+operation, matrix\+\_\+decompositions, pseudo\+\_\+inverse, solve\+\_\+linear\+\_\+equations, and utilities submodules.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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diff --git a/doc/doxygen/latex/group__localization.tex b/doc/doxygen/latex/group__localization.tex
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+\hypertarget{group__localization}{}\doxysection{L\+O\+C\+A\+L\+I\+Z\+A\+T\+I\+ON}
+\label{group__localization}\index{LOCALIZATION@{LOCALIZATION}}
+
+
+localization and optimization algorithms of distance-\/ and magnetic-\/based localization systems.  
+
+
+\doxysubsection*{Modules}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{group__position__algos}{P\+O\+S\+I\+T\+I\+O\+N\+\_\+\+A\+L\+G\+OS}}
+\begin{DoxyCompactList}\small\item\em localization algorithms of distance-\/ and magnetic-\/based localization systems. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__position__optimization}{P\+O\+S\+I\+T\+I\+O\+N\+\_\+\+O\+P\+T\+I\+M\+I\+Z\+A\+T\+I\+ON}}
+\begin{DoxyCompactList}\small\item\em position optimization of distance-\/ and magnetic-\/based localization systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+localization and optimization algorithms of distance-\/ and magnetic-\/based localization systems. 
+
+The localization module contains functions to compute a position of a mobile device using distance measurements or D\+C-\/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.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__magnetic__based}{}\doxysection{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}
+\label{group__magnetic__based}\index{MAGNETIC\_BASED@{MAGNETIC\_BASED}}
+
+
+localization algorithms of magnetic-\/based localization systems.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{magnetic__based__fi_8h}{magnetic\+\_\+based\+\_\+fi.\+h}}
+\begin{DoxyCompactList}\small\item\em Error function of D\+C-\/pulsed, magnetic localization system. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{magnetic__based__jacobian_8h}{magnetic\+\_\+based\+\_\+jacobian.\+h}}
+\begin{DoxyCompactList}\small\item\em Jacobian function of D\+C-\/pulsed, magnetic localization system. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{magnetic__based__position_8h}{magnetic\+\_\+based\+\_\+position.\+h}}
+\begin{DoxyCompactList}\small\item\em Functions of of D\+C-\/pulsed, magnetic localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+localization algorithms of magnetic-\/based localization systems. 
+
+The localization module contains functions to compute a position of a mobile device using artificially generated D\+C-\/pulsed, magnetic signals.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__matrix__decompositions}{}\doxysection{M\+A\+T\+R\+I\+X\+\_\+\+D\+E\+C\+O\+M\+P\+O\+S\+I\+T\+I\+O\+NS}
+\label{group__matrix__decompositions}\index{MATRIX\_DECOMPOSITIONS@{MATRIX\_DECOMPOSITIONS}}
+
+
+Matrix decomposition algorithms.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{lu__decomp_8h}{lu\+\_\+decomp.\+h}}
+\begin{DoxyCompactList}\small\item\em Computes the LU decomposition of the matrix. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{qr__common_8h}{qr\+\_\+common.\+h}}
+\begin{DoxyCompactList}\small\item\em Common definitions and implementations for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{qr__givens_8h}{qr\+\_\+givens.\+h}}
+\begin{DoxyCompactList}\small\item\em Givens algorithm for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using Givens rotations. A = QR, where Q is an (m $\times$ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{qr__householder_8h}{qr\+\_\+householder.\+h}}
+\begin{DoxyCompactList}\small\item\em Householder algorithm for the Q\+R-\/decomposition. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{svd_8h}{svd.\+h}}
+\begin{DoxyCompactList}\small\item\em Algorithm for the Singular Value Decomposition (S\+VD). \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Matrix decomposition algorithms. 
+
+This module provides algorithms of matrix decomposition such as Householder, Givens, or Golub-\/\+Kahan-\/\+Reinsch algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__non__linear__algebra}{}\doxysection{N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}
+\label{group__non__linear__algebra}\index{NON\_LINEAR\_ALGEBRA@{NON\_LINEAR\_ALGEBRA}}
+
+
+Non-\/linear algebra operations.  
+
+
+\doxysubsection*{Modules}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{group__optimization}{O\+P\+T\+I\+M\+I\+Z\+A\+T\+I\+ON}}
+\begin{DoxyCompactList}\small\item\em Solving problems of regression smoothing and curve fitting. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__solve__non__linear__equations}{S\+O\+L\+V\+E\+\_\+\+N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+E\+Q\+U\+A\+T\+I\+O\+NS}}
+\begin{DoxyCompactList}\small\item\em Enables to solve multi-\/variant nonlinear equation systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Non-\/linear algebra operations. 
+
+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 (N\+LS) methods such as modified Gauss--Newton (GN) or the Levenberg--Marquardt (L\+VM) algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
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+\hypertarget{group__optimization}{}\doxysection{O\+P\+T\+I\+M\+I\+Z\+A\+T\+I\+ON}
+\label{group__optimization}\index{OPTIMIZATION@{OPTIMIZATION}}
+
+
+Solving problems of regression smoothing and curve fitting.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{levenberg__marquardt_8h}{levenberg\+\_\+marquardt.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{modified__gauss__newton_8h}{modified\+\_\+gauss\+\_\+newton.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Gauss--Newton algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Solving problems of regression smoothing and curve fitting. 
+
+This module also enables the optimization of an approximate solution by using Non-\/linear Least Squares (N\+LS) methods such as modified Gauss--Newton (GN) or the Levenberg--Marquardt (L\+VM) algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__pos__algos__common}{}\doxysection{P\+O\+S\+\_\+\+A\+L\+G\+O\+S\+\_\+\+C\+O\+M\+M\+ON}
+\label{group__pos__algos__common}\index{POS\_ALGOS\_COMMON@{POS\_ALGOS\_COMMON}}
+
+
+Common algorithms of localization systems.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{DOP_8h}{D\+O\+P.\+h}}
+\begin{DoxyCompactList}\small\item\em Compute the Position Dilution of Precision (P\+D\+OP). \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{trilateration_8h}{trilateration.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the trilateration algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Common algorithms of localization systems. 
+
+This module contains common functions such as the trilateration or the Position Dilution of Precision (P\+D\+OP).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__position__algos}{}\doxysection{P\+O\+S\+I\+T\+I\+O\+N\+\_\+\+A\+L\+G\+OS}
+\label{group__position__algos}\index{POSITION\_ALGOS@{POSITION\_ALGOS}}
+
+
+localization algorithms of distance-\/ and magnetic-\/based localization systems.  
+
+
+\doxysubsection*{Modules}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{group__distance__based}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+\begin{DoxyCompactList}\small\item\em localization algorithms of distance-\/based localization systems. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__magnetic__based}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+\begin{DoxyCompactList}\small\item\em localization algorithms of magnetic-\/based localization systems. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{group__pos__algos__common}{P\+O\+S\+\_\+\+A\+L\+G\+O\+S\+\_\+\+C\+O\+M\+M\+ON}}
+\begin{DoxyCompactList}\small\item\em Common algorithms of localization systems. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+localization algorithms of distance-\/ and magnetic-\/based localization systems. 
+
+The localization module contains functions to compute a position of a mobile device using distance measurements or D\+C-\/pulsed, magnetic signals.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__position__optimization}{}\doxysection{P\+O\+S\+I\+T\+I\+O\+N\+\_\+\+O\+P\+T\+I\+M\+I\+Z\+A\+T\+I\+ON}
+\label{group__position__optimization}\index{POSITION\_OPTIMIZATION@{POSITION\_OPTIMIZATION}}
+
+
+position optimization of distance-\/ and magnetic-\/based localization systems.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{loc__gauss__newton_8h}{loc\+\_\+gauss\+\_\+newton.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Gauss--Newton algorithm for position optimization. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{loc__levenberg__marquardt_8h}{loc\+\_\+levenberg\+\_\+marquardt.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Levenberg--Marquardt (L\+VM) algorithm for position optimization. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{multipath__dist__detection__mitigation_8h}{multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+position optimization of distance-\/ and magnetic-\/based localization systems. 
+
+The optimization module enables the refinement of a position of a mobile device using algorithms such as Gauss--Newton, Levenberg, or a Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\label{group__pseudo__inverse}\index{PSEUDO\_INVERSE@{PSEUDO\_INVERSE}}
+
+
+Algorithms to calculate the pseudo-\/inverse of a matrix.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h}{moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h}}
+\begin{DoxyCompactList}\small\item\em Moore--Penrose algorithm to compute the pseudo-\/inverse of a matrix. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{pseudo__inverse_8h}{pseudo\+\_\+inverse.\+h}}
+\begin{DoxyCompactList}\small\item\em Compute the pseudo-\/inverse of a matrix. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{qr__pseudo__inverse_8h}{qr\+\_\+pseudo\+\_\+inverse.\+h}}
+\begin{DoxyCompactList}\small\item\em QR decomposition algorithms to compute the pseudo-\/inverse of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Algorithms to calculate the pseudo-\/inverse of a matrix. 
+
+The pseudo-\/inverse matrix can be computed using Q\+R-\/decomposition or S\+VD algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/group__solve__linear__equations.aux b/doc/doxygen/latex/group__solve__linear__equations.aux
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diff --git a/doc/doxygen/latex/group__solve__linear__equations.tex b/doc/doxygen/latex/group__solve__linear__equations.tex
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index 0000000..b483c34
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+\hypertarget{group__solve__linear__equations}{}\doxysection{S\+O\+L\+V\+E\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+E\+Q\+U\+A\+T\+I\+O\+NS}
+\label{group__solve__linear__equations}\index{SOLVE\_LINEAR\_EQUATIONS@{SOLVE\_LINEAR\_EQUATIONS}}
+
+
+Enables to solve systems of linear equations Ax = b for x.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{solve_8h}{solve.\+h}}
+\begin{DoxyCompactList}\small\item\em Enables to solve systems of linear equations Ax = b for x. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Enables to solve systems of linear equations Ax = b for x. 
+
+The user can select various algorithm such as the Moore--Penrose inverse, the Givens or the Householder algorithm for the Q\+R-\/decomposition to solve the systems of linear equations.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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diff --git a/doc/doxygen/latex/group__solve__non__linear__equations.tex b/doc/doxygen/latex/group__solve__non__linear__equations.tex
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+\hypertarget{group__solve__non__linear__equations}{}\doxysection{S\+O\+L\+V\+E\+\_\+\+N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+E\+Q\+U\+A\+T\+I\+O\+NS}
+\label{group__solve__non__linear__equations}\index{SOLVE\_NON\_LINEAR\_EQUATIONS@{SOLVE\_NON\_LINEAR\_EQUATIONS}}
+
+
+Enables to solve multi-\/variant nonlinear equation systems.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{damped__newton__raphson_8h}{damped\+\_\+newton\+\_\+raphson.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the damped Newton--Raphson algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{fsolve_8h}{fsolve.\+h}}
+\begin{DoxyCompactList}\small\item\em Solve multi-\/variant nonlinear equation systems. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{newton__raphson_8h}{newton\+\_\+raphson.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Newton--Raphson algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Enables to solve multi-\/variant nonlinear equation systems. 
+
+The multi-\/variant nonlinear equation systems are solved using damped or the Newton--Raphson algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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diff --git a/doc/doxygen/latex/group__utilities.tex b/doc/doxygen/latex/group__utilities.tex
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+\hypertarget{group__utilities}{}\doxysection{U\+T\+I\+L\+I\+T\+I\+ES}
+\label{group__utilities}\index{UTILITIES@{UTILITIES}}
+
+
+Utilities for linear algebra.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{combinatorics_8h}{combinatorics.\+h}}
+\begin{DoxyCompactList}\small\item\em Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{norm__dist__rnd__generator_8h}{norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h}}
+\begin{DoxyCompactList}\small\item\em Generating normally distributed random numbers. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{shell__sort_8h}{shell\+\_\+sort.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Shell sort algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{utils_8h}{utils.\+h}}
+\begin{DoxyCompactList}\small\item\em Utilities for linear algebra. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Utilities for linear algebra. 
+
+Utility-\/functions are needed by linear algebra-\/module as well as other modules such as the position algorithm-\/module.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\hypertarget{group__utils}{}\doxysection{U\+T\+I\+LS}
+\label{group__utils}\index{UTILS@{UTILS}}
+
+
+Utilities for linear algebra.  
+
+
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{combinatorics_8h}{combinatorics.\+h}}
+\begin{DoxyCompactList}\small\item\em Calculate possible $ \binom{n}{k} combinations $ without repetition in ascending order. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{norm__dist__rnd__generator_8h}{norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h}}
+\begin{DoxyCompactList}\small\item\em Generating normally distributed random numbers. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{shell__sort_8h}{shell\+\_\+sort.\+h}}
+\begin{DoxyCompactList}\small\item\em Implement the Shell sort algorithm. \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{utils_8h}{utils.\+h}}
+\begin{DoxyCompactList}\small\item\em Utilities for linear algebra. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Utilities for linear algebra. 
+
+Utility-\/functions are needed by linear algebra-\/module as well as other modules such as the position algorithm-\/module.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi 
+\end{DoxyAuthor}
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+\label{householder__test_8c}\index{householder\_test.c@{householder\_test.c}}
+
+
+Examples of the Householder algorithm.  
+
+
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+householder.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{householder__test_8c_aacc09bb5d8990f8f6f3bc872b9a8d9a0}\label{householder__test_8c_aacc09bb5d8990f8f6f3bc872b9a8d9a0}} 
+void \mbox{\hyperlink{householder__test_8c_aacc09bb5d8990f8f6f3bc872b9a8d9a0}{householder\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Householder algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Householder algorithm. 
+
+Householder algorithm examples (see the \mbox{\hyperlink{qr__householder_8h}{Householder}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/householder__test_8h.tex b/doc/doxygen/latex/householder__test_8h.tex
new file mode 100644
index 0000000..7891136
--- /dev/null
+++ b/doc/doxygen/latex/householder__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{householder__test_8h}{}\doxysection{householder\+\_\+test.\+h File Reference}
+\label{householder__test_8h}\index{householder\_test.h@{householder\_test.h}}
+
+
+Examples of the Householder algorithm.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{householder__test_8h_aacc09bb5d8990f8f6f3bc872b9a8d9a0}\label{householder__test_8h_aacc09bb5d8990f8f6f3bc872b9a8d9a0}} 
+void \mbox{\hyperlink{householder__test_8h_aacc09bb5d8990f8f6f3bc872b9a8d9a0}{householder\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Householder algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Householder algorithm. 
+
+Householder algorithm examples (see the \mbox{\hyperlink{qr__householder_8h}{Householder}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/ieee__mobile__computing__non__lin__alg_8c.tex b/doc/doxygen/latex/ieee__mobile__computing__non__lin__alg_8c.tex
new file mode 100644
index 0000000..a7a0fa3
--- /dev/null
+++ b/doc/doxygen/latex/ieee__mobile__computing__non__lin__alg_8c.tex
@@ -0,0 +1,155 @@
+\hypertarget{ieee__mobile__computing__non__lin__alg_8c}{}\doxysection{F\+:/temp/publish/\+Rcd\+Math\+Lib\+\_\+full\+\_\+fledged\+\_\+devices\+\_\+tmp/\+Rcd\+Math\+Lib\+\_\+app/src/\+Rcd\+Math\+Lib/examples/ieee\+\_\+mobile\+\_\+computing\+\_\+non\+\_\+lin\+\_\+alg.c File Reference}
+\label{ieee__mobile__computing__non__lin__alg_8c}\index{F:/temp/publish/RcdMathLib\_full\_fledged\_devices\_tmp/RcdMathLib\_app/src/RcdMathLib/examples/ieee\_mobile\_computing\_non\_lin\_alg.c@{F:/temp/publish/RcdMathLib\_full\_fledged\_devices\_tmp/RcdMathLib\_app/src/RcdMathLib/examples/ieee\_mobile\_computing\_non\_lin\_alg.c}}
+
+
+Examples of optimization algorithms.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}modified\+\_\+gauss\+\_\+newton.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}levenberg\+\_\+marquardt.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{ieee__mobile__computing__non__lin__alg_8c_a1903dbf211715600f9830349fb69aaf7}{ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+exp\+\_\+f}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the error vector using exponential data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{ieee__mobile__computing__non__lin__alg_8c_acd3427ef350de38a6e8a2446d7c9ff48}{ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+exp\+\_\+\+Jacobian}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}2\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the Jacobian matrix using exponential data. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{ieee__mobile__computing__non__lin__alg_8c_ac9fa8d6b7e20b065ebecd1339bc0f66b}\label{ieee__mobile__computing__non__lin__alg_8c_ac9fa8d6b7e20b065ebecd1339bc0f66b}} 
+void {\bfseries ieee\+\_\+mobile\+\_\+comp\+\_\+exponential\+\_\+data\+\_\+test} (void)
+\item 
+void \mbox{\hyperlink{ieee__mobile__computing__non__lin__alg_8c_a65a525d446eb62da17cd1b6b7242f3bd}{ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+sin\+\_\+f}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the error vector using sinusoidal data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{ieee__mobile__computing__non__lin__alg_8c_ad46e7112151698bf6ec5d1df6c1b3785}{ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+sin\+\_\+\+Jacobian}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}4\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the Jacobian matrix using sinusoidal data. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{ieee__mobile__computing__non__lin__alg_8c_a441918d542f57adcbf82b36643218e99}\label{ieee__mobile__computing__non__lin__alg_8c_a441918d542f57adcbf82b36643218e99}} 
+void {\bfseries ieee\+\_\+mobile\+\_\+comp\+\_\+sinusoidal\+\_\+data\+\_\+test} (void)
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of optimization algorithms. 
+
+Optimization algorithms examples (see the \mbox{\hyperlink{modified__gauss__newton_8h}{modified GN}} and L\+VM optimization methods).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{ieee__mobile__computing__non__lin__alg_8c_a1903dbf211715600f9830349fb69aaf7}\label{ieee__mobile__computing__non__lin__alg_8c_a1903dbf211715600f9830349fb69aaf7}} 
+\index{ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}!ieee\_mobile\_comp\_get\_exp\_f@{ieee\_mobile\_comp\_get\_exp\_f}}
+\index{ieee\_mobile\_comp\_get\_exp\_f@{ieee\_mobile\_comp\_get\_exp\_f}!ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}}
+\doxysubsubsection{\texorpdfstring{ieee\_mobile\_comp\_get\_exp\_f()}{ieee\_mobile\_comp\_get\_exp\_f()}}
+{\footnotesize\ttfamily void ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+exp\+\_\+f (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the error vector using exponential data. 
+
+The error function is\+: $ \vec{f}(x_1, x_2) = \begin{bmatrix} x_1 \mathrm{e}^{x_2} - y_1, ~\hdots, x_1\mathrm{e}^{8x_2}-y_8 \end{bmatrix}^{T}, $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & calculated error vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 46 of file ieee\+\_\+mobile\+\_\+computing\+\_\+non\+\_\+lin\+\_\+alg.\+c.
+
+
+
+References vector\+\_\+t.
+
+\mbox{\Hypertarget{ieee__mobile__computing__non__lin__alg_8c_acd3427ef350de38a6e8a2446d7c9ff48}\label{ieee__mobile__computing__non__lin__alg_8c_acd3427ef350de38a6e8a2446d7c9ff48}} 
+\index{ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}!ieee\_mobile\_comp\_get\_exp\_Jacobian@{ieee\_mobile\_comp\_get\_exp\_Jacobian}}
+\index{ieee\_mobile\_comp\_get\_exp\_Jacobian@{ieee\_mobile\_comp\_get\_exp\_Jacobian}!ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}}
+\doxysubsubsection{\texorpdfstring{ieee\_mobile\_comp\_get\_exp\_Jacobian()}{ieee\_mobile\_comp\_get\_exp\_Jacobian()}}
+{\footnotesize\ttfamily void ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+exp\+\_\+\+Jacobian (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}$\,$\mbox{]}\mbox{[}2\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the Jacobian matrix using exponential data. 
+
+The Jacobian matrix is\+: $ {J_f} = \begin{bmatrix} \frac{\partial f_1}{\partial x1} & \frac{\partial f_1}{\partial x_2} \\ \frac{\partial f_2}{\partial x1} & \frac{\partial f_2}{\partial x_2} \\ \vdots & \vdots & \\ \frac{\partial f_n}{\partial x1} & \frac{\partial f_n}{\partial x_2} \\ \end{bmatrix} = \begin{bmatrix} \mathrm{e}^{x_2} & \mathrm{e}^{x_2} x_1\\ \mathrm{e}^{2 x_2} & 2\mathrm{e}^{2x_2} x_1 \\ \vdots & \vdots & \\ \mathrm{e}^{8 x_2} & 8\mathrm{e}^{8x_2} x_1 \\ \end{bmatrix}. $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\mbox{[}$\,$\mbox{]}} & Jacobian matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 82 of file ieee\+\_\+mobile\+\_\+computing\+\_\+non\+\_\+lin\+\_\+alg.\+c.
+
+
+
+References vector\+\_\+t.
+
+\mbox{\Hypertarget{ieee__mobile__computing__non__lin__alg_8c_a65a525d446eb62da17cd1b6b7242f3bd}\label{ieee__mobile__computing__non__lin__alg_8c_a65a525d446eb62da17cd1b6b7242f3bd}} 
+\index{ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}!ieee\_mobile\_comp\_get\_sin\_f@{ieee\_mobile\_comp\_get\_sin\_f}}
+\index{ieee\_mobile\_comp\_get\_sin\_f@{ieee\_mobile\_comp\_get\_sin\_f}!ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}}
+\doxysubsubsection{\texorpdfstring{ieee\_mobile\_comp\_get\_sin\_f()}{ieee\_mobile\_comp\_get\_sin\_f()}}
+{\footnotesize\ttfamily void ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+sin\+\_\+f (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the error vector using sinusoidal data. 
+
+The error function is\+: $ \vec{f}(x_1, x_2, x_3, x_4)= \begin{bmatrix} x_1 \sin\left( x_2 +x_3\right) +x_4 - y_1 \\ \vdots \\ x_1 \sin\left( 12 x_2 +x_3\right) +x_4 - y_{12} \end{bmatrix}. $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & calculated error vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 164 of file ieee\+\_\+mobile\+\_\+computing\+\_\+non\+\_\+lin\+\_\+alg.\+c.
+
+
+
+References vector\+\_\+t.
+
+\mbox{\Hypertarget{ieee__mobile__computing__non__lin__alg_8c_ad46e7112151698bf6ec5d1df6c1b3785}\label{ieee__mobile__computing__non__lin__alg_8c_ad46e7112151698bf6ec5d1df6c1b3785}} 
+\index{ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}!ieee\_mobile\_comp\_get\_sin\_Jacobian@{ieee\_mobile\_comp\_get\_sin\_Jacobian}}
+\index{ieee\_mobile\_comp\_get\_sin\_Jacobian@{ieee\_mobile\_comp\_get\_sin\_Jacobian}!ieee\_mobile\_computing\_non\_lin\_alg.c@{ieee\_mobile\_computing\_non\_lin\_alg.c}}
+\doxysubsubsection{\texorpdfstring{ieee\_mobile\_comp\_get\_sin\_Jacobian()}{ieee\_mobile\_comp\_get\_sin\_Jacobian()}}
+{\footnotesize\ttfamily void ieee\+\_\+mobile\+\_\+comp\+\_\+get\+\_\+sin\+\_\+\+Jacobian (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}$\,$\mbox{]}\mbox{[}4\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the Jacobian matrix using sinusoidal data. 
+
+The Jacobian matrix is $ J_f = \left[\begin{matrix} \sin\left( x_2 +x_3\right) & x_1 \cos\left( x_2 +x_3\right) & x_1\cos\left( x_2 +x_3\right) \\ \sin\left( 2 x_2 +x_3\right) & 2 x_1 \cos\left( 2 x_2 +x_3\right) & x_1 \cos\left( 2 x_2 +x_3\right)\\ \vdots & \vdots \\ \sin\left( 12 x_2 +x_3\right) & 12 x_1 \cos\left( 12 x_2 +x_3\right) & x_1 \cos\left( 12 x_2 +x_3\right) \end{matrix}\right]. $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\mbox{[}$\,$\mbox{]}} & Jacobian matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 199 of file ieee\+\_\+mobile\+\_\+computing\+\_\+non\+\_\+lin\+\_\+alg.\+c.
+
+
+
+References vector\+\_\+t.
+
diff --git a/doc/doxygen/latex/index.log b/doc/doxygen/latex/index.log
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+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.5 ...source-\/limited or embedded devices. Rcd\+
+                                                  Math\+Lib supports solving...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.5 ...-\/limited or embedded devices. Rcd\+Math\+
+                                                  Lib supports solving linea...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.5 ... a position on a mobile device.\hypertarget
+                                                  {index_contribute-to-RcdMa...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.5 ...dex_contribute-to-RcdMathLib}{}\doxysection
+                                                  {Contribute to Rcd\+Math\+...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.5 ...dMathLib}{}\doxysection{Contribute to Rcd\+
+                                                  Math\+Lib}\label{index_con...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.5 ...ib}{}\doxysection{Contribute to Rcd\+Math\+
+                                                  Lib}\label{index_contribut...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.6 ...ome to join us to develop further the Rcd\+
+                                                  Math\+Lib and so build an ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.6 ... join us to develop further the Rcd\+Math\+
+                                                  Lib and so build an an ope...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.6 ...th\+Lib and so build an an open community\+
+                                                  :
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Environment DoxyItemize undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.7 \begin{DoxyItemize}
+                       
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+! LaTeX Error: Command \item invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.8 \item
+          Download and contribute your code on \href{https://github.com/RIOT...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.8 \item D
+           ownload and contribute your code on \href{https://github.com/RIOT...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.8 \item D
+           ownload and contribute your code on \href{https://github.com/RIOT...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.8 \item D
+           ownload and contribute your code on \href{https://github.com/RIOT...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+! Undefined control sequence.
+l.8 ... Download and contribute your code on \href
+                                                  {https://github.com/RIOT-O...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> \ttfamily  Git\+
+                           Hub
+l.8 ...github.com/RIOT-OS/RIOT}{\texttt{ Git\+Hub}
+                                                  }. You can read about how ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.8 ... You can read about how to contribute \href
+                                                  {https://github.com/RIOT-O...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> \ttfamily  in our Git\+
+                                  Hub Wiki
+l.8 ...ing-to-RIOT}{\texttt{ in our Git\+Hub Wiki}
+                                                  }.
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Command \item invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.9 \item
+          \href{http://lists.riot-os.org/mailman/listinfo/users}{\texttt{ Su...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.9 \item \href
+               {http://lists.riot-os.org/mailman/listinfo/users}{\texttt{ Su...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing \endgroup inserted.
+<inserted text> 
+                \endgroup 
+l.9 \item \href
+               {http://lists.riot-os.org/mailman/listinfo/users}{\texttt{ Su...
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 1--9
+[]
+ []
+
+
+Overfull \hbox (63.86292pt too wide) in paragraph at lines 1--9
+[]\OML/cmm/m/it/10 cdMathLib \OMS/cmsy/m/n/10 �
+ []
+
+
+Overfull \hbox (17.22528pt too wide) in paragraph at lines 1--9
+\OML/cmm/m/it/10 in \OMS/cmsy/m/n/10 �
+ []
+
+
+Overfull \hbox (13.06369pt too wide) in paragraph at lines 1--9
+\OML/cmm/m/it/10 a \OMS/cmsy/m/n/10 �
+ []
+
+
+Overfull \hbox (250.46855pt too wide) in paragraph at lines 1--9
+\OML/cmm/m/it/10 nutshell[][][]RcdMathLibisanopen \OMS/cmsy/m/n/10 �
+ []
+
+
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+ []
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+
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+ []
+
+
+Overfull \hbox (255.97441pt too wide) in paragraph at lines 1--9
+ \OML/cmm/m/it/10 linearequationsystems:Furthermore; itprovidesgeneral \OMS/cms
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+ []
+
+
+Overfull \hbox (1457.42183pt too wide) in paragraph at lines 1--9
+ \OML/cmm/m/it/10 purposeimplementedmethodsthatfacilitatesolvingproblemsofregre
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+tiononamobiledevice:[][][][]AnyoneiswelcometojoinustodevelopfurthertheRcdMathLi
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+ []
+
+
+Overfull \hbox (982.62213pt too wide) in paragraph at lines 1--9
+\OML/cmm/m/it/10 Downloadandcontributeyourcodeon[][]:Youcanreadabouthowtocontri
+bute[][]:[]$ 
+ []
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.9 \item \href
+               {http://lists.riot-os.org/mailman/listinfo/users}{\texttt{ Su...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+! Undefined control sequence.
+<recently read> \href 
+                      
+l.9 \item \href
+               {http://lists.riot-os.org/mailman/listinfo/users}{\texttt{ Su...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no h in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+! Undefined control sequence.
+l.9 ...stinfo/users}{\texttt{ Subscribe}} to \href
+                                                  {mailto:users@riot-os.org}...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+! Undefined control sequence.
+<argument>  users@riot-\/os.\+
+                              org
+l.9 ...iot-os.org}{\texttt{ users@riot-\/os.\+org}
+                                                  } to ask for help using R\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
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+! Undefined control sequence.
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+                                                  I\+OT or writing an applic...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no I in font nullfont!
+! Undefined control sequence.
+l.9 ...t-\/os.\+org}} to ask for help using R\+I\+
+                                                  OT or writing an applicati...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no O in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
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+Missing character: There is no t in font nullfont!
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+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no R in font nullfont!
+! Undefined control sequence.
+l.9 ... R\+I\+OT or writing an application for R\+
+                                                  I\+OT (or to just stay in ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no I in font nullfont!
+! Undefined control sequence.
+l.9 ...+I\+OT or writing an application for R\+I\+
+                                                  OT (or to just stay in the...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no O in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+! Undefined control sequence.
+l.9 ...in the loop). An archive of this list \href
+                                                  {https://lists.riot-os.org...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no h in font nullfont!
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+Missing character: There is no / in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (47.24959pt too wide) in paragraph at lines 9--10
+\OT1/cmtt/m/n/10 Subscribe
+ []
+
+
+Overfull \hbox (89.24922pt too wide) in paragraph at lines 9--10
+\OT1/cmtt/m/n/10 users@riot-os.org
+ []
+
+
+Overfull \hbox (10.49991pt too wide) in paragraph at lines 9--10
+\OT1/cmtt/m/n/10 is
+ []
+
+
+Overfull \hbox (47.24959pt too wide) in paragraph at lines 9--10
+\OT1/cmtt/m/n/10 available
+ []
+
+
+Overfull \hbox (20.99982pt too wide) in paragraph at lines 9--10
+\OT1/cmtt/m/n/10 here 
+ []
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.10 \item \href
+                {http://lists.riot-os.org/mailman/listinfo/devel}{\texttt{ S...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+! Undefined control sequence.
+<recently read> \href 
+                      
+l.10 \item \href
+                {http://lists.riot-os.org/mailman/listinfo/devel}{\texttt{ S...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+! Undefined control sequence.
+l.10 ...tinfo/devel}{\texttt{ Subscribe}} to \href
+                                                  {mailto:devel@riot-os.org}...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no @ in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+! Undefined control sequence.
+<argument>  devel@riot-\/os.\+
+                              org
+l.10 ...ot-os.org}{\texttt{ devel@riot-\/os.\+org}
+                                                  } to follow and discuss ke...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+! Undefined control sequence.
+l.10 ...are support. An archive of this list \href
+                                                  {https://lists.riot-os.org...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (47.24959pt too wide) in paragraph at lines 10--11
+\OT1/cmtt/m/n/10 Subscribe
+ []
+
+
+Overfull \hbox (89.24922pt too wide) in paragraph at lines 10--11
+\OT1/cmtt/m/n/10 devel@riot-os.org
+ []
+
+
+Overfull \hbox (10.49991pt too wide) in paragraph at lines 10--11
+\OT1/cmtt/m/n/10 is
+ []
+
+
+Overfull \hbox (47.24959pt too wide) in paragraph at lines 10--11
+\OT1/cmtt/m/n/10 available
+ []
+
+
+Overfull \hbox (20.99982pt too wide) in paragraph at lines 10--11
+\OT1/cmtt/m/n/10 here 
+ []
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.11 \item C
+            ontact us on e-\/mail\+: \href{mailto:zkasmi@inf.fu-berlin.de}{\...
+
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+! Undefined control sequence.
+l.11 \item Contact us on e-\/mail\+
+                                   : \href{mailto:zkasmi@inf.fu-berlin.de}{\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no : in font nullfont!
+! Undefined control sequence.
+l.11 \item Contact us on e-\/mail\+: \href
+                                          {mailto:zkasmi@inf.fu-berlin.de}{\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no @ in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+<argument>  zkasmi@inf.\+
+                         fu-\/berlin.\+de
+l.11 ...e}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}
+                                                  }
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument>  zkasmi@inf.\+fu-\/berlin.\+
+                                       de
+l.11 ...e}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}
+                                                  }
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: \begin{document} ended by \end{DoxyItemize}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.12 \end{DoxyItemize}
+                      \hypertarget{index_the-quickest-start}{}\doxysection{T...
+
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+! Missing } inserted.
+<inserted text> 
+                }
+l.12 \end{DoxyItemize}
+                      \hypertarget{index_the-quickest-start}{}\doxysection{T...
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Extra \endgroup.
+<recently read> \endgroup 
+                          
+l.12 \end{DoxyItemize}
+                      \hypertarget{index_the-quickest-start}{}\doxysection{T...
+Things are pretty mixed up, but I think the worst is over.
+
+! Undefined control sequence.
+l.12 \end{DoxyItemize}\hypertarget
+                                  {index_the-quickest-start}{}\doxysection{T...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.12 \end{DoxyItemize}\hypertarget{index_
+                                         the-quickest-start}{}\doxysection{T...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.12 ...ize}\hypertarget{index_the-quickest-start}
+                                                  {}\doxysection{The quickes...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.12 ...et{index_the-quickest-start}{}\doxysection
+                                                  {The quickest start}\label...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.13 You can run Rcd\+
+                      Math\+Lib on most resource-\/limited such as the S\+T\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.13 You can run Rcd\+Math\+
+                            Lib on most resource-\/limited such as the S\+T\...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.13 ...on most resource-\/limited such as the S\+
+                                                  T\+M32 Discovery board as ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.13 ...most resource-\/limited such as the S\+T\+
+                                                  M32 Discovery board as wel...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.13 ...Try it right now in your terminal window\+
+                                                  :
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.14 
+     
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+
+Overfull \hbox (120.74895pt too wide) in paragraph at lines 11--14
+\OT1/cmtt/m/n/10 zkasmi@inf.fu-berlin.de
+ []
+
+
+Overfull \hbox (21.71649pt too wide) in paragraph at lines 11--14
+[]\OML/cmm/m/it/10 he \OMS/cmsy/m/n/10 �
+ []
+
+
+Overfull \hbox (44.5737pt too wide) in paragraph at lines 11--14
+\OML/cmm/m/it/10 quickest \OMS/cmsy/m/n/10 �
+ []
+
+
+Overfull \hbox (285.37473pt too wide) in paragraph at lines 11--14
+\OML/cmm/m/it/10 start[][][]YoucanrunRcdMathLibonmostresource \OMS/cmsy/m/n/10 
+�
+ []
+
+
+Overfull \hbox (429.2637pt too wide) in paragraph at lines 11--14
+ \OML/cmm/m/it/10 limitedsuchastheSTM\OT1/cmr/m/n/10 32\OML/cmm/m/it/10 Discove
+ryboardaswellasonaPC:Tryitrightnowinyourterminalwindow \OT1/cmr/m/n/10 :$ 
+ []
+
+
+! LaTeX Error: Environment DoxyCode undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.16 \begin{DoxyCode}
+                     {0}
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.16 \begin{DoxyCode}{0
+                       }
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no 0 in font nullfont!
+! Undefined control sequence.
+l.17 \DoxyCodeLine
+                  {git clone git://github.com/RIOT-\/OS/RIOT.git \# assumpti...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no # in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+! Undefined control sequence.
+l.18 \DoxyCodeLine
+                  {cd RIOT}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no c in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no T in font nullfont!
+! Undefined control sequence.
+l.19 \DoxyCodeLine
+                  {git checkout <LATEST\_RELEASE>}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no < in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no > in font nullfont!
+! Undefined control sequence.
+l.20 \DoxyCodeLine
+                  {                                            \# interfaces...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no # in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+l.21 \DoxyCodeLine
+                  {                                            \# RIOT insta...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no # in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+! Undefined control sequence.
+l.22 \DoxyCodeLine
+                  {cd examples/default/}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no c in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no / in font nullfont!
+! Undefined control sequence.
+l.23 \DoxyCodeLine
+                  {make all}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{DoxyCode}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.24 \end{DoxyCode}
+                   
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+! Undefined control sequence.
+l.25 \hypertarget
+                 {index_structure}{}\doxysection{Structure}\label{index_stru...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.25 \hypertarget{index_
+                        structure}{}\doxysection{Structure}\label{index_stru...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.25 \hypertarget{index_structure}
+                                  {}\doxysection{Structure}\label{index_stru...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.25 \hypertarget{index_structure}{}\doxysection
+                                                {Structure}\label{index_stru...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.26 This section walks you through Rcd\+
+                                         Math\+Lib\textquotesingle{}s struct...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.26 This section walks you through Rcd\+Math\+
+                                               Lib\textquotesingle{}s struct...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.26 ...you through Rcd\+Math\+Lib\textquotesingle
+                                                  {}s structure to easily fi...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.26 ...re to easily find your way around in Rcd\+
+                                                  Math\+Lib\textquotesingle{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.26 ...easily find your way around in Rcd\+Math\+
+                                                  Lib\textquotesingle{}s cod...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.26 ...y around in Rcd\+Math\+Lib\textquotesingle
+                                                  {}s code base.
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.27 
+     
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 16--27
+[]
+ []
+
+
+Overfull \hbox (557.6369pt too wide) in paragraph at lines 16--27
+[]\OML/cmm/m/it/10 tructure[][][]ThissectionwalksyouthroughRcdMathLib[]sstructu
+retoeasilyfindyourwayaroundinRcdMathLib[]scodebase:$ 
+ []
+
+
+! LaTeX Error: Environment DoxyImage undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.29 \begin{DoxyImage}
+                      
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+! Undefined control sequence.
+l.30 \includegraphics
+                     [width=\textwidth,height=\textheight/2,keepaspectratio=...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.30 \includegraphics[
+                      width=\textwidth,height=\textheight/2,keepaspectratio=...
+
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Illegal unit of measure (pt inserted).
+<to be read again> 
+                   h
+l.30 \includegraphics[width=\textwidth,h
+                                        eight=\textheight/2,keepaspectratio=...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again> 
+                   /
+l.30 ...phics[width=\textwidth,height=\textheight/
+                                                  2,keepaspectratio=true]{so...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again> 
+                   /
+l.30 ...phics[width=\textwidth,height=\textheight/
+                                                  2,keepaspectratio=true]{so...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no / in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no ] in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.30 ...=\textheight/2,keepaspectratio=true]{soft_
+                                                  architecture_01_09_2019.svg}
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.30 ...io=true]{soft_architecture_01_09_2019.svg}
+                                                  
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.31 \doxyfigcaption
+                    {Software Architecture}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: \begin{document} ended by \end{DoxyImage}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.32 \end{DoxyImage}
+                    
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.32 \end{DoxyImage}
+                    
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text> 
+                }
+l.32 \end{DoxyImage}
+                    
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+Overfull \hbox (231.29439pt too wide) in paragraph at lines 30--33
+[]$[]\OML/cmm/m/it/10 rchitecture[]\OT1/cmr/m/n/10 1[]9[]019\OML/cmm/m/it/10 :s
+vg[]$ 
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.35 R
+      cd\+Math\+Lib\textquotesingle{}s source code is composed into three gr...
+
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no R in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no d in font nullfont!
+! Undefined control sequence.
+l.35 Rcd\+
+          Math\+Lib\textquotesingle{}s source code is composed into three gr...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+! Undefined control sequence.
+l.35 Rcd\+Math\+
+                Lib\textquotesingle{}s source code is composed into three gr...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+! Undefined control sequence.
+l.35 Rcd\+Math\+Lib\textquotesingle
+                                   {}s source code is composed into three gr...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+! Undefined control sequence.
+l.35 ...ource code is composed into three groups\+
+                                                  :
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no : in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 35--36
+[]
+ []
+
+
+! LaTeX Error: Environment DoxyItemize undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.38 \begin{DoxyItemize}
+                        
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.39 \item L
+            inear algebra
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.40 \item N
+            on-\/linear algebra
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.41 \item L
+            ocalization
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{DoxyItemize}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.42 \end{DoxyItemize}
+                      
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.44 I
+      n addition Rcd\+Math\+Lib includes various examples to familiarize the...
+
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no d in font nullfont!
+! Undefined control sequence.
+l.44 In addition Rcd\+
+                      Math\+Lib includes various examples to familiarize the...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+! Undefined control sequence.
+l.44 In addition Rcd\+Math\+
+                            Lib includes various examples to familiarize the...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no A in font nullfont!
+! Undefined control sequence.
+l.44 ...e the user with software as well as an A\+
+                                                  PI to facilitate the use a...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no P in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 44--45
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.46 T
+      he structural groups are projected onto the directory structure of Rcd...
+
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no d in font nullfont!
+! Undefined control sequence.
+l.46 ...cted onto the directory structure of Rcd\+
+                                                  Math\+Lib, where each of t...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+! Undefined control sequence.
+l.46 ...nto the directory structure of Rcd\+Math\+
+                                                  Lib, where each of these g...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no d in font nullfont!
+! Undefined control sequence.
+l.46 ...n one or two directories in the main Rcd\+
+                                                  Math\+Lib directory.
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+! Undefined control sequence.
+l.46 ...or two directories in the main Rcd\+Math\+
+                                                  Lib directory.
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 46--47
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.48 T
+      he following list gives a more detailed description of each of Rcd\+Ma...
+
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no d in font nullfont!
+! Undefined control sequence.
+l.48 ...more detailed description of each of Rcd\+
+                                                  Math\+Lib\textquotesingle{...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+! Undefined control sequence.
+l.48 ...etailed description of each of Rcd\+Math\+
+                                                  Lib\textquotesingle{}s top...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+! Undefined control sequence.
+l.48 ... of each of Rcd\+Math\+Lib\textquotesingle
+                                                  {}s top-\/level directorie...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+! Undefined control sequence.
+l.48 ...xtquotesingle{}s top-\/level directories\+
+                                                  :\hypertarget{index_autoto...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no : in font nullfont!
+! Undefined control sequence.
+l.48 ...{}s top-\/level directories\+:\hypertarget
+                                                  {index_autotoc_md1}{}\doxy...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.48 ...-\/level directories\+:\hypertarget{index_
+                                                  autotoc_md1}{}\doxysubsect...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.48 ...ectories\+:\hypertarget{index_autotoc_md1}
+                                                  {}\doxysubsection{Linear A...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.48 ...target{index_autotoc_md1}{}\doxysubsection
+                                                  {Linear Algebra}\label{ind...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.49 ...s divided in the following sub-\/modules\+
+                                                  :
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Environment DoxyItemize undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.50 \begin{DoxyItemize}
+                        
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+! LaTeX Error: Command \item invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.51 \item
+           Basic operations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.51 \item B
+            asic operations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.51 \item B
+            asic operations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.51 \item B
+            asic operations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Command \item invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.52 \item
+           Matrix decompositions sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.52 \item M
+            atrix decompositions sub-\/module.
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing \endgroup inserted.
+<inserted text> 
+                \endgroup 
+l.52 \item M
+            atrix decompositions sub-\/module.
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 48--52
+[]
+ []
+
+
+Overfull \hbox (1608.70041pt too wide) in paragraph at lines 48--52
+[]\OML/cmm/m/it/10 utotoc[]d\OT1/cmr/m/n/10 1[][][]\OML/cmm/m/it/10 Thisdirecto
+rycontainsfunctionsthatarespecifictovectorandmatrixoperations; andotheralgebrai
+coperations:Itprovidesfunctionstoperformbasicmatrixoperationssuchasmatrixadditi
+on; multiplication; ortransposition:Italsoprovidesalgorithmsforcomplexoperation
+slikematrixdecompositionalgorithms; algorithmstocalculatethepseudo \OMS/cmsy/m/
+n/10 �
+ []
+
+
+Overfull \hbox (524.76382pt too wide) in paragraph at lines 48--52
+ \OML/cmm/m/it/10 inverseofamatrix; ormethodstosolvesystemsoflinearequations:Th
+elinearalgebramoduleisdividedinthefollowingsub \OMS/cmsy/m/n/10 �
+ []
+
+
+Overfull \hbox (42.63664pt too wide) in paragraph at lines 48--52
+ \OML/cmm/m/it/10 modules \OT1/cmr/m/n/10 :
+ []
+
+
+Overfull \hbox (95.51775pt too wide) in paragraph at lines 48--52
+\OML/cmm/m/it/10 Basicoperationssub \OMS/cmsy/m/n/10 �
+ []
+
+
+Overfull \hbox (55.17143pt too wide) in paragraph at lines 48--52
+ \OML/cmm/m/it/10 module:[]$ 
+ []
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.52 \item M
+            atrix decompositions sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.53 \item P
+            seudo-\/\+Inverse sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no P in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no - in font nullfont!
+! Undefined control sequence.
+l.53 \item Pseudo-\/\+
+                      Inverse sub-\/module.
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.54 \item S
+            olve linear equations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.55 \item U
+            tils sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no U in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{DoxyItemize}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.56 \end{DoxyItemize}
+                      
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+! Missing } inserted.
+<inserted text> 
+                }
+l.56 \end{DoxyItemize}
+                      
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text> 
+                }
+l.56 \end{DoxyItemize}
+                      
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text> 
+                }
+l.56 \end{DoxyItemize}
+                      
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Extra \endgroup.
+<recently read> \endgroup 
+                          
+l.56 \end{DoxyItemize}
+                      
+Things are pretty mixed up, but I think the worst is over.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.58 S
+      ee \mbox{\hyperlink{group__linear__algebra}{L\+I\+N\+E\+A\+R\+\_\+\+A\...
+
+You're in trouble here.  Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {group__linear__algebra}{L\+I\+N\+E\+A\+R\+\_\+\+A\+L\...
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Undefined control sequence.
+<argument> \hyperlink {group__linear__algebra}{L\+
+                                                  I\+N\+E\+A\+R\+\_\+\+A\+L\...
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...link {group__linear__algebra}{L\+I\+
+                                                  N\+E\+A\+R\+\_\+\+A\+L\+G\...
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...k {group__linear__algebra}{L\+I\+N\+
+                                                  E\+A\+R\+\_\+\+A\+L\+G\+E\...
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...group__linear__algebra}{L\+I\+N\+E\+
+                                                  A\+R\+\_\+\+A\+L\+G\+E\+B\...
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...up__linear__algebra}{L\+I\+N\+E\+A\+
+                                                  R\+\_\+\+A\+L\+G\+E\+B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ..._linear__algebra}{L\+I\+N\+E\+A\+R\+
+                                                  \_\+\+A\+L\+G\+E\+B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...ear__algebra}{L\+I\+N\+E\+A\+R\+\_\+
+                                                  \+A\+L\+G\+E\+B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...r__algebra}{L\+I\+N\+E\+A\+R\+\_\+\+
+                                                  A\+L\+G\+E\+B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...algebra}{L\+I\+N\+E\+A\+R\+\_\+\+A\+
+                                                  L\+G\+E\+B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...ebra}{L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+
+                                                  G\+E\+B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...a}{L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+
+                                                  E\+B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+
+                                                  B\+RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+
+                                                  RA}
+l.58 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.58 ...A}} module for further information and A\+
+                                                  PI documentations.\hyperta...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.58 ...tion and A\+PI documentations.\hypertarget
+                                                  {index_autotoc_md2}{}\doxy...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.58 ...target{index_autotoc_md2}{}\doxysubsection
+                                                  {Non-\/\+Linear Algebra}\l...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.58 ...dex_autotoc_md2}{}\doxysubsection{Non-\/\+
+                                                  Linear Algebra}\label{inde...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.59 ...n by using Non-\/linear Least Squares (N\+
+                                                  LS) methods such as modifi...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.59 ...wton (GN) or the Levenberg--Marquardt (L\+
+                                                  VM) algorithms. The non-\/...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.59 ...vided in the two following sub-\/modules\+
+                                                  :
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.60 
+     
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+
+! LaTeX Error: Environment DoxyItemize undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.62 \begin{DoxyItemize}
+                        
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.63 \item S
+            olve non-\/linear equations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.63 \item S
+            olve non-\/linear equations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.63 \item S
+            olve non-\/linear equations sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.64 \item O
+            ptimization sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.64 \item O
+            ptimization sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+
+! LaTeX Error: Lonely \item--perhaps a missing list environment.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.64 \item O
+            ptimization sub-\/module.
+Try typing  <return>  to proceed.
+If that doesn't work, type  X <return>  to quit.
+
+Missing character: There is no O in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{DoxyItemize}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.65 \end{DoxyItemize}
+                      
+Your command was ignored.
+Type  I <command> <return>  to replace it with another command,
+or  <return>  to continue without it.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {group__non__linear__algebra}{N\+O\+N\+\_\+\+L\+I\+N\+...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Undefined control sequence.
+<argument> ...nk {group__non__linear__algebra}{N\+
+                                                  O\+N\+\_\+\+L\+I\+N\+E\+A\...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...{group__non__linear__algebra}{N\+O\+
+                                                  N\+\_\+\+L\+I\+N\+E\+A\+R\...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...oup__non__linear__algebra}{N\+O\+N\+
+                                                  \_\+\+L\+I\+N\+E\+A\+R\+\_...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ..._non__linear__algebra}{N\+O\+N\+\_\+
+                                                  \+L\+I\+N\+E\+A\+R\+\_\+\+...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...on__linear__algebra}{N\+O\+N\+\_\+\+
+                                                  L\+I\+N\+E\+A\+R\+\_\+\+A\...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ..._linear__algebra}{N\+O\+N\+\_\+\+L\+
+                                                  I\+N\+E\+A\+R\+\_\+\+A\+L\...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...near__algebra}{N\+O\+N\+\_\+\+L\+I\+
+                                                  N\+E\+A\+R\+\_\+\+A\+L\+G\...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...r__algebra}{N\+O\+N\+\_\+\+L\+I\+N\+
+                                                  E\+A\+R\+\_\+\+A\+L\+G\+E\...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...algebra}{N\+O\+N\+\_\+\+L\+I\+N\+E\+
+                                                  A\+R\+\_\+\+A\+L\+G\+E\+B\...
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...ebra}{N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+
+                                                  R\+\_\+\+A\+L\+G\+E\+B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...a}{N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+
+                                                  \_\+\+A\+L\+G\+E\+B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+
+                                                  \+A\+L\+G\+E\+B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+
+                                                  A\+L\+G\+E\+B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+A\+
+                                                  L\+G\+E\+B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+
+                                                  G\+E\+B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...+\+L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+
+                                                  E\+B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+
+                                                  B\+RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+
+                                                  RA}
+l.67 ...\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}}
+                                                   module for further inform...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.67 ...odule for further information.\hypertarget
+                                                  {index_autotoc_md3}{}\doxy...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.67 ...target{index_autotoc_md3}{}\doxysubsection
+                                                  {Localization}\label{index...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.68 ... device using distance measurements or D\+
+                                                  C-\/pulsed, magnetic signa...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Missing $ inserted.
+<inserted text> 
+                $
+l.69 
+     
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing } inserted.
+<inserted text> 
+                }
+l.69 
+     
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+l.70 In the {\ttfamily position\+
+                                 \_\+algos} sub-\/directory you can find the...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.70 In the {\ttfamily position\+\_\+
+                                     algos} sub-\/directory you can find the...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {group__distance__based}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\...
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Undefined control sequence.
+<argument> \hyperlink {group__distance__based}{D\+
+                                                  I\+S\+T\+A\+N\+C\+E\+\_\+\...
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...link {group__distance__based}{D\+I\+
+                                                  S\+T\+A\+N\+C\+E\+\_\+\+B\...
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...k {group__distance__based}{D\+I\+S\+
+                                                  T\+A\+N\+C\+E\+\_\+\+B\+A\...
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...group__distance__based}{D\+I\+S\+T\+
+                                                  A\+N\+C\+E\+\_\+\+B\+A\+S\...
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...up__distance__based}{D\+I\+S\+T\+A\+
+                                                  N\+C\+E\+\_\+\+B\+A\+S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ..._distance__based}{D\+I\+S\+T\+A\+N\+
+                                                  C\+E\+\_\+\+B\+A\+S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...stance__based}{D\+I\+S\+T\+A\+N\+C\+
+                                                  E\+\_\+\+B\+A\+S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...nce__based}{D\+I\+S\+T\+A\+N\+C\+E\+
+                                                  \_\+\+B\+A\+S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ..._based}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+
+                                                  \+B\+A\+S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...ased}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+
+                                                  B\+A\+S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...d}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+
+                                                  A\+S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+
+                                                  S\+ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+
+                                                  ED}
+l.70 ...\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}}
+                                                   module) as well as the im...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.70 ... as well as the implementations of the D\+
+                                                  C-\/pulsed, magnetic posit...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> \hyperlink 
+                      {group__magnetic__based}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\...
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+! Missing $ inserted.
+<inserted text> 
+                $
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Missing { inserted.
+<to be read again> 
+                   _
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+A left brace was mandatory here, so I've put one in.
+You might want to delete and/or insert some corrections
+so that I will find a matching right brace soon.
+(If you're confused by all this, try typing `I}' now.)
+
+! Undefined control sequence.
+<argument> \hyperlink {group__magnetic__based}{M\+
+                                                  A\+G\+N\+E\+T\+I\+C\+\_\+\...
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...link {group__magnetic__based}{M\+A\+
+                                                  G\+N\+E\+T\+I\+C\+\_\+\+B\...
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...k {group__magnetic__based}{M\+A\+G\+
+                                                  N\+E\+T\+I\+C\+\_\+\+B\+A\...
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...group__magnetic__based}{M\+A\+G\+N\+
+                                                  E\+T\+I\+C\+\_\+\+B\+A\+S\...
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...up__magnetic__based}{M\+A\+G\+N\+E\+
+                                                  T\+I\+C\+\_\+\+B\+A\+S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ..._magnetic__based}{M\+A\+G\+N\+E\+T\+
+                                                  I\+C\+\_\+\+B\+A\+S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...gnetic__based}{M\+A\+G\+N\+E\+T\+I\+
+                                                  C\+\_\+\+B\+A\+S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...tic__based}{M\+A\+G\+N\+E\+T\+I\+C\+
+                                                  \_\+\+B\+A\+S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ..._based}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+
+                                                  \+B\+A\+S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...ased}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+
+                                                  B\+A\+S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...d}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+
+                                                  A\+S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+
+                                                  S\+ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+<argument> ...A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+
+                                                  ED}
+l.70 ...\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}}
+                                                   module). The {\ttfamily p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Command \ttfamily invalid in math mode.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type  H <return>  for immediate help.
+ ...                                              
+                                                  
+l.70 ..._\+\+B\+A\+S\+ED}} module). The {\ttfamily
+                                                   pos\+\_\+algos\+\_\+commo...
+(That makes 100 errors; please try again.) 
+Here is how much of TeX's memory you used:
+ 20 strings out of 492973
+ 568 string characters out of 3135926
+ 65306 words of memory out of 3000000
+ 3990 multiletter control sequences out of 15000+200000
+ 3808 words of font info for 15 fonts, out of 3000000 for 9000
+ 1141 hyphenation exceptions out of 8191
+ 18i,11n,12p,831b,94s stack positions out of 5000i,500n,10000p,200000b,50000s
+
+!  ==> Fatal error occurred, no output PDF file produced!
diff --git a/doc/doxygen/latex/index.tex b/doc/doxygen/latex/index.tex
new file mode 100644
index 0000000..44e1e3f
--- /dev/null
+++ b/doc/doxygen/latex/index.tex
@@ -0,0 +1,86 @@
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi
+\end{DoxyAuthor}
+\hypertarget{index_RcdMathLib-in-a-nutshell}{}\doxysection{Rcd\+Math\+Lib in a nutshell}\label{index_RcdMathLib-in-a-nutshell}
+Rcd\+Math\+Lib is an open-\/source library for numerical linear and non-\/linear algebra designed to match the requirements of resource-\/limited or embedded devices. Rcd\+Math\+Lib supports solving linear and non-\/linear equation systems. Furthermore, it provides general-\/purpose implemented methods that facilitate solving problems of regression smoothing and curve fitting. It also allows for calculating as well as optimizing a position on a mobile device.\hypertarget{index_download-use-RcdMathLib}{}\doxysection{Download and use Rcd\+Math\+Lib}\label{index_download-use-RcdMathLib}
+The simplest way to use the Rcd\+Math\+Lib for resource-\/limited devices is to download the Elipse project (T\+O\+DO). The following Eclipse project enables also the Rcd\+Math\+Lib for full-\/fledged platforms (T\+O\+DO).\hypertarget{index_the-quickest-start}{}\doxysection{The quickest start}\label{index_the-quickest-start}
+You can run Rcd\+Math\+Lib on most resource-\/limited such as the S\+T\+M32 Discovery board as well as on a PC. Try it right now in your terminal window\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git clone git://github.com/RIOT-\/OS/RIOT.git \# assumption: git is pre-\/installed                                                                    }
+\DoxyCodeLine{cd RcdMathLib/examples/linear\_algebra/basic\_operation/}
+\DoxyCodeLine{make all}
+\end{DoxyCode}
+
+
+The example above shows how to use the basic operations of the Rcd\+Math\+Lib such as the vector or the matrix operations.\hypertarget{index_structure}{}\doxysection{Structure}\label{index_structure}
+This section walks you through Rcd\+Math\+Lib\textquotesingle{}s structure to easily find your way around in Rcd\+Math\+Lib\textquotesingle{}s code base.
+
+ 
+\begin{figure} [!ht]
+	\centering
+	\includegraphics[width=0.95\textwidth]{soft_architecture_01_09_2019.pdf}
+	\caption[Example of real-world localization system]{Example of real-world localization system}
+	\label{fig:exp_loc_sys}
+\end{figure}
+  
+
+Rcd\+Math\+Lib\textquotesingle{}s source code is composed into three groups\+:
+
+
+\begin{DoxyItemize}
+\item Linear algebra
+\item Non-\/linear algebra
+\item Localization
+\end{DoxyItemize}
+
+In addition Rcd\+Math\+Lib includes various examples to familiarize the user with the software as well as an A\+PI to facilitate the use and the further development of the library.
+
+The structural groups are projected onto the directory structure of Rcd\+Math\+Lib, where each of these groups resides in one or two directories in the main Rcd\+Math\+Lib directory.
+
+The following list gives a more detailed description of each of Rcd\+Math\+Lib\textquotesingle{}s top-\/level directories\+:\hypertarget{index_autotoc_md0}{}\doxysubsection{Linear Algebra}\label{index_autotoc_md0}
+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\+:
+\begin{DoxyItemize}
+\item Basic operations sub-\/module.
+\item Matrix decompositions sub-\/module.
+\item Pseudo-\/\+Inverse sub-\/module.
+\item Solve linear equations sub-\/module.
+\item Utilities sub-\/module.
+\end{DoxyItemize}
+
+See \mbox{\hyperlink{group__linear__algebra}{L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}} module for further information and A\+PI documentations.\hypertarget{index_autotoc_md1}{}\doxysubsection{Non-\/\+Linear Algebra}\label{index_autotoc_md1}
+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 (N\+LS) methods such as modified Gauss--Newton (GN) or the Levenberg--Marquardt (L\+VM) algorithms. The non-\/linear algebra module is divided in the two following sub-\/modules\+:
+
+
+\begin{DoxyItemize}
+\item Solve non-\/linear equations sub-\/module.
+\item Optimization sub-\/module.
+\end{DoxyItemize}
+
+See here \mbox{\hyperlink{group__non__linear__algebra}{N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}} module for further information.\hypertarget{index_autotoc_md2}{}\doxysubsection{Localization}\label{index_autotoc_md2}
+The localization module contains functions to compute a position of a mobile device using distance measurements or D\+C-\/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.
+
+In the {\ttfamily position\+\_\+algos} sub-\/directory you can find the implementations of the distance-\/based localization system (see the \mbox{\hyperlink{group__distance__based}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}} module) as well as the implementations of the D\+C-\/pulsed, magnetic position system (see the \mbox{\hyperlink{group__magnetic__based}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}} module). The {\ttfamily pos\+\_\+algos\+\_\+common} sub-\/directory contains common localization algorithms like the trilateration method (see the \mbox{\hyperlink{group__pos__algos__common}{P\+O\+S\+\_\+\+A\+L\+G\+O\+S\+\_\+\+C\+O\+M\+M\+ON}} module). The optimization algorithms are localted in the {\ttfamily optimization} sub-\/directory providing the following optimization approaches\+:
+
+
+\begin{DoxyItemize}
+\item Gauss--Newton (GN) algorithm.
+\item Levenberg--Marquardt (L\+VM) algorithm. ~\newline
+
+\item Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm.
+\end{DoxyItemize}
+
+See the \mbox{\hyperlink{group__localization}{L\+O\+C\+A\+L\+I\+Z\+A\+T\+I\+ON}} module for more detailed information.\hypertarget{index_autotoc_md3}{}\doxysubsection{examples}\label{index_autotoc_md3}
+Here you find a number of example applications that demonstrate certain features of Rcd\+Math\+Lib. The examples found in this directory is a good starting point for anyone who is new to Rcd\+Math\+Lib.
+
+For more information best browse that directory and have a look at the {\ttfamily R\+E\+A\+D\+M\+E.\+md} files that ship with each example.
+
+To create your own application -\/ here or anywhere else -\/ see \mbox{\hyperlink{creating-an-application}{Creating an application}}\hypertarget{index_autotoc_md4}{}\doxysubsection{doc}\label{index_autotoc_md4}
+The {\ttfamily doc} directory contains the doxygen configuration and also contains the compiled doxygen output after running {\ttfamily make doc}.\hypertarget{index_further-information}{}\doxysection{Further information}\label{index_further-information}
+
+\begin{DoxyItemize}
+\item \mbox{\hyperlink{getting-started}{Getting started}}
+\item \mbox{\hyperlink{creating-an-application}{Creating an application}}
+\item \mbox{\hyperlink{creating-modules}{Creating modules}} 
+\end{DoxyItemize}
\ No newline at end of file
diff --git a/doc/doxygen/latex/index.tex.bak b/doc/doxygen/latex/index.tex.bak
new file mode 100644
index 0000000..6d628f9
--- /dev/null
+++ b/doc/doxygen/latex/index.tex.bak
@@ -0,0 +1,92 @@
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi
+\end{DoxyAuthor}
+\hypertarget{index_RcdMathLib-in-a-nutshell}{}\doxysection{Rcd\+Math\+Lib in a nutshell}\label{index_RcdMathLib-in-a-nutshell}
+Rcd\+Math\+Lib is an open-\/source library for numerical linear and non-\/linear algebra designed to match the requirements of resource-\/limited or embedded devices. Rcd\+Math\+Lib supports solving linear and non-\/linear equation systems. Furthermore, it provides general-\/purpose implemented methods that facilitate solving problems of regression smoothing and curve fitting. It also allows for calculating as well as optimizing a position on a mobile device.\hypertarget{index_contribute-to-RcdMathLib}{}\doxysection{Contribute to Rcd\+Math\+Lib}\label{index_contribute-to-RcdMathLib}
+Anyone is welcome to join us to develop further the Rcd\+Math\+Lib and so build an an open community\+:
+\begin{DoxyItemize}
+\item Download and contribute your code on \href{https://github.com/RIOT-OS/RIOT}{\texttt{ Git\+Hub}}. You can read about how to contribute \href{https://github.com/RIOT-OS/RIOT/wiki/Contributing-to-RIOT}{\texttt{ in our Git\+Hub Wiki}}.
+\item \href{http://lists.riot-os.org/mailman/listinfo/users}{\texttt{ Subscribe}} to \href{mailto:users@riot-os.org}{\texttt{ users@riot-\/os.\+org}} to ask for help using R\+I\+OT or writing an application for R\+I\+OT (or to just stay in the loop). An archive of this list \href{https://lists.riot-os.org/pipermail/users/}{\texttt{ is available here}}.
+\item \href{http://lists.riot-os.org/mailman/listinfo/devel}{\texttt{ Subscribe}} to \href{mailto:devel@riot-os.org}{\texttt{ devel@riot-\/os.\+org}} to follow and discuss kernel and network stack developement, or hardware support. An archive of this list \href{https://lists.riot-os.org/pipermail/devel/}{\texttt{ is available here}}.
+\item Contact us on e-\/mail\+: \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}}
+\end{DoxyItemize}\hypertarget{index_the-quickest-start}{}\doxysection{The quickest start}\label{index_the-quickest-start}
+You can run Rcd\+Math\+Lib on most resource-\/limited such as the S\+T\+M32 Discovery board as well as on a PC. Try it right now in your terminal window\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git clone git://github.com/RIOT-\/OS/RIOT.git \# assumption: git is pre-\/installed}
+\DoxyCodeLine{cd RIOT}
+\DoxyCodeLine{git checkout <LATEST\_RELEASE>}
+\DoxyCodeLine{                                            \# interfaces to connect multiple}
+\DoxyCodeLine{                                            \# RIOT instances}
+\DoxyCodeLine{cd examples/default/}
+\DoxyCodeLine{make all}
+\end{DoxyCode}
+\hypertarget{index_structure}{}\doxysection{Structure}\label{index_structure}
+This section walks you through Rcd\+Math\+Lib\textquotesingle{}s structure to easily find your way around in Rcd\+Math\+Lib\textquotesingle{}s code base.
+
+ 
+\begin{DoxyImage}
+\includegraphics[width=\textwidth,height=\textheight/2,keepaspectratio=true]{soft_architecture_01_09_2019.svg}
+\doxyfigcaption{Software Architecture}
+\end{DoxyImage}
+  
+
+Rcd\+Math\+Lib\textquotesingle{}s source code is composed into three groups\+:
+
+
+\begin{DoxyItemize}
+\item Linear algebra
+\item Non-\/linear algebra
+\item Localization
+\end{DoxyItemize}
+
+In addition Rcd\+Math\+Lib includes various examples to familiarize the user with software as well as an A\+PI to facilitate the use and the further development of the library.
+
+The structural groups are projected onto the directory structure of Rcd\+Math\+Lib, where each of these groups resides in one or two directories in the main Rcd\+Math\+Lib directory.
+
+The following list gives a more detailed description of each of Rcd\+Math\+Lib\textquotesingle{}s top-\/level directories\+:\hypertarget{index_autotoc_md1}{}\doxysubsection{Linear Algebra}\label{index_autotoc_md1}
+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\+:
+\begin{DoxyItemize}
+\item Basic operations sub-\/module.
+\item Matrix decompositions sub-\/module.
+\item Pseudo-\/\+Inverse sub-\/module.
+\item Solve linear equations sub-\/module.
+\item Utils sub-\/module.
+\end{DoxyItemize}
+
+See \mbox{\hyperlink{group__linear__algebra}{L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}} module for further information and A\+PI documentations.\hypertarget{index_autotoc_md2}{}\doxysubsection{Non-\/\+Linear Algebra}\label{index_autotoc_md2}
+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 (N\+LS) methods such as modified Gauss--Newton (GN) or the Levenberg--Marquardt (L\+VM) algorithms. The non-\/linear algebra module is divided in the two following sub-\/modules\+:
+
+
+\begin{DoxyItemize}
+\item Solve non-\/linear equations sub-\/module.
+\item Optimization sub-\/module.
+\end{DoxyItemize}
+
+See here \mbox{\hyperlink{group__non__linear__algebra}{N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}} module for further information.\hypertarget{index_autotoc_md3}{}\doxysubsection{Localization}\label{index_autotoc_md3}
+The localization module contains functions to compute a position of a mobile device using distance measurements or D\+C-\/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.
+
+In the {\ttfamily position\+\_\+algos} sub-\/directory you can find the implementations of the distance-\/based localization system (see the \mbox{\hyperlink{group__distance__based}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}} module) as well as the implementations of the D\+C-\/pulsed, magnetic position system (see the \mbox{\hyperlink{group__magnetic__based}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}} module). The {\ttfamily pos\+\_\+algos\+\_\+common} sub-\/directory contains common localization algorithms like the trilateration method (see the \mbox{\hyperlink{group__pos__algos__common}{P\+O\+S\+\_\+\+A\+L\+G\+O\+S\+\_\+\+C\+O\+M\+M\+ON}} module). The optimization algorithms are localted in the {\ttfamily optimization} sub-\/directory providing the following optimization approaches\+:
+
+
+\begin{DoxyItemize}
+\item Gauss--Newton (GN) algorithm.
+\item Levenberg--Marquardt (L\+VM) algorithm. ~\newline
+
+\item Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm.
+\end{DoxyItemize}
+
+See the \mbox{\hyperlink{group__localization}{L\+O\+C\+A\+L\+I\+Z\+A\+T\+I\+ON}} module for more detailed information.\hypertarget{index_autotoc_md4}{}\doxysubsection{examples}\label{index_autotoc_md4}
+Here you find a number of example applications that demonstrate certain features of Rcd\+Math\+Lib. The examples found in this directory is a good starting point for anyone who is new to Rcd\+Math\+Lib.
+
+For more information best browse that directory and have a look at the {\ttfamily R\+E\+A\+D\+M\+E.\+md} files that ship with each example.
+
+To create your own application -\/ here or anywhere else -\/ see \mbox{\hyperlink{creating-an-application}{Creating an application}}\hypertarget{index_autotoc_md5}{}\doxysubsection{doc}\label{index_autotoc_md5}
+The {\ttfamily doc} directory contains the doxygen configuration and also contains the compiled doxygen output after running {\ttfamily make doc}.\hypertarget{index_further-information}{}\doxysection{Further information}\label{index_further-information}
+
+\begin{DoxyItemize}
+\item \mbox{\hyperlink{getting-started}{Getting started}}
+\item \mbox{\hyperlink{creating-an-application}{Creating an application}}
+\item \mbox{\hyperlink{creating-modules}{Creating modules}} 
+\end{DoxyItemize}
\ No newline at end of file
diff --git a/doc/doxygen/latex/levenberg__marquardt_8c.tex b/doc/doxygen/latex/levenberg__marquardt_8c.tex
new file mode 100644
index 0000000..d02c1a4
--- /dev/null
+++ b/doc/doxygen/latex/levenberg__marquardt_8c.tex
@@ -0,0 +1,181 @@
+\hypertarget{levenberg__marquardt_8c}{}\doxysection{levenberg\+\_\+marquardt.\+c File Reference}
+\label{levenberg__marquardt_8c}\index{levenberg\_marquardt.c@{levenberg\_marquardt.c}}
+
+
+Implement the Levenberg--Marquardt (L\+VM) algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}levenberg\+\_\+marquardt.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}solve.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{levenberg__marquardt_8c_a741182c4bc201af44ac010bc4474b826}{opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mu, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}n\mbox{]}, void($\ast$get\+\_\+f\+\_\+error)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the correction-\/function of the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{levenberg__marquardt_8c_a2a72b2b6be15a9998b61a9c0097e3d5f}{opt\+\_\+levenberg\+\_\+marquardt}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta0, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta1, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]}, void($\ast$get\+\_\+f\+\_\+error)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{levenberg__marquardt_8c_a46fb5a9d6d185ff7f98c9cf34b56e34f}{opt\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Levenberg--Marquardt (L\+VM) algorithm. 
+
+\begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{levenberg__marquardt_8c_a2a72b2b6be15a9998b61a9c0097e3d5f}\label{levenberg__marquardt_8c_a2a72b2b6be15a9998b61a9c0097e3d5f}} 
+\index{levenberg\_marquardt.c@{levenberg\_marquardt.c}!opt\_levenberg\_marquardt@{opt\_levenberg\_marquardt}}
+\index{opt\_levenberg\_marquardt@{opt\_levenberg\_marquardt}!levenberg\_marquardt.c@{levenberg\_marquardt.c}}
+\doxysubsubsection{\texorpdfstring{opt\_levenberg\_marquardt()}{opt\_levenberg\_marquardt()}}
+{\footnotesize\ttfamily uint8\+\_\+t opt\+\_\+levenberg\+\_\+marquardt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta0,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta1,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+f\+\_\+error,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta0} & $ \beta_0 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta1} & $ \beta_1 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the L\+VM algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+vec\mbox{[}$\,$\mbox{]}} & estimated (optimized) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+f\+\_\+error)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 143 of file levenberg\+\_\+marquardt.\+c.
+
+
+
+References matrix\+\_\+add\+\_\+to\+\_\+diag(), matrix\+\_\+mul\+\_\+scalar(), matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+itself(), matrix\+\_\+trans\+\_\+mul\+\_\+vec(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0(), solve\+\_\+householder(), vector\+\_\+add(), vector\+\_\+copy(), vector\+\_\+get\+\_\+norm2(), and vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+exponential\+\_\+data\+\_\+test(), optimization\+\_\+sinusoidal\+\_\+data\+\_\+test(), and optimization\+\_\+test().
+
+\mbox{\Hypertarget{levenberg__marquardt_8c_a741182c4bc201af44ac010bc4474b826}\label{levenberg__marquardt_8c_a741182c4bc201af44ac010bc4474b826}} 
+\index{levenberg\_marquardt.c@{levenberg\_marquardt.c}!opt\_levenberg\_marquardt\_correction@{opt\_levenberg\_marquardt\_correction}}
+\index{opt\_levenberg\_marquardt\_correction@{opt\_levenberg\_marquardt\_correction}!levenberg\_marquardt.c@{levenberg\_marquardt.c}}
+\doxysubsubsection{\texorpdfstring{opt\_levenberg\_marquardt\_correction()}{opt\_levenberg\_marquardt\_correction()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mu,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{s\mbox{[}n\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+f\+\_\+error,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the correction-\/function of the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide pointers to the error and Jacobian functions.
+
+\begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em mu} & regularization parameter $ \mu $. \\
+\hline
+\mbox{\texttt{ out}}  & {\em s\mbox{[}$\,$\mbox{]}} & correction vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+f\+\_\+error)} & pointer to the error function that calculates the matrix $ J_f^{T} J_{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the parameter $ \rho_{\mu} $ 
+\end{DoxyReturn}
+
+
+Definition at line 53 of file levenberg\+\_\+marquardt.\+c.
+
+
+
+References matrix\+\_\+add\+\_\+to\+\_\+diag(), matrix\+\_\+mul\+\_\+scalar(), matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+itself(), matrix\+\_\+trans\+\_\+mul\+\_\+vec(), solve\+\_\+householder(), vector\+\_\+add(), vector\+\_\+get\+\_\+scalar\+\_\+product(), and vector\+\_\+t.
+
+
+
+Referenced by opt\+\_\+levenberg\+\_\+marquardt().
+
+\mbox{\Hypertarget{levenberg__marquardt_8c_a46fb5a9d6d185ff7f98c9cf34b56e34f}\label{levenberg__marquardt_8c_a46fb5a9d6d185ff7f98c9cf34b56e34f}} 
+\index{levenberg\_marquardt.c@{levenberg\_marquardt.c}!opt\_levenberg\_marquardt\_get\_mu0@{opt\_levenberg\_marquardt\_get\_mu0}}
+\index{opt\_levenberg\_marquardt\_get\_mu0@{opt\_levenberg\_marquardt\_get\_mu0}!levenberg\_marquardt.c@{levenberg\_marquardt.c}}
+\doxysubsubsection{\texorpdfstring{opt\_levenberg\_marquardt\_get\_mu0()}{opt\_levenberg\_marquardt\_get\_mu0()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} opt\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide a pointer to the matrix $ J_f^{T} J_{f} $.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix $J_f^T J_f$. \\
+\hline
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix $J_f^T J_f$.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+parameter $ \rho_{\mu} $ 
+\end{DoxyReturn}
+
+
+Definition at line 227 of file levenberg\+\_\+marquardt.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by opt\+\_\+levenberg\+\_\+marquardt().
+
diff --git a/doc/doxygen/latex/levenberg__marquardt_8h.tex b/doc/doxygen/latex/levenberg__marquardt_8h.tex
new file mode 100644
index 0000000..31b22f2
--- /dev/null
+++ b/doc/doxygen/latex/levenberg__marquardt_8h.tex
@@ -0,0 +1,124 @@
+\hypertarget{levenberg__marquardt_8h}{}\doxysection{levenberg\+\_\+marquardt.\+h File Reference}
+\label{levenberg__marquardt_8h}\index{levenberg\_marquardt.h@{levenberg\_marquardt.h}}
+
+
+Implement the Levenberg--Marquardt (L\+VM) algorithm.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{levenberg__marquardt_8h_a2a72b2b6be15a9998b61a9c0097e3d5f}{opt\+\_\+levenberg\+\_\+marquardt}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta0, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta1, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]}, void($\ast$get\+\_\+f\+\_\+error)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{levenberg__marquardt_8h_a46fb5a9d6d185ff7f98c9cf34b56e34f}{opt\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Levenberg--Marquardt (L\+VM) algorithm. 
+
+\begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{levenberg__marquardt_8h_a2a72b2b6be15a9998b61a9c0097e3d5f}\label{levenberg__marquardt_8h_a2a72b2b6be15a9998b61a9c0097e3d5f}} 
+\index{levenberg\_marquardt.h@{levenberg\_marquardt.h}!opt\_levenberg\_marquardt@{opt\_levenberg\_marquardt}}
+\index{opt\_levenberg\_marquardt@{opt\_levenberg\_marquardt}!levenberg\_marquardt.h@{levenberg\_marquardt.h}}
+\doxysubsubsection{\texorpdfstring{opt\_levenberg\_marquardt()}{opt\_levenberg\_marquardt()}}
+{\footnotesize\ttfamily uint8\+\_\+t opt\+\_\+levenberg\+\_\+marquardt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta0,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta1,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+f\+\_\+error,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta0} & $ \beta_0 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta1} & $ \beta_1 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the L\+VM algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+vec\mbox{[}$\,$\mbox{]}} & estimated (optimized) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+f\+\_\+error)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 143 of file levenberg\+\_\+marquardt.\+c.
+
+
+
+References matrix\+\_\+add\+\_\+to\+\_\+diag(), matrix\+\_\+mul\+\_\+scalar(), matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+itself(), matrix\+\_\+trans\+\_\+mul\+\_\+vec(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0(), solve\+\_\+householder(), vector\+\_\+add(), vector\+\_\+copy(), vector\+\_\+get\+\_\+norm2(), and vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+exponential\+\_\+data\+\_\+test(), optimization\+\_\+sinusoidal\+\_\+data\+\_\+test(), and optimization\+\_\+test().
+
+\mbox{\Hypertarget{levenberg__marquardt_8h_a46fb5a9d6d185ff7f98c9cf34b56e34f}\label{levenberg__marquardt_8h_a46fb5a9d6d185ff7f98c9cf34b56e34f}} 
+\index{levenberg\_marquardt.h@{levenberg\_marquardt.h}!opt\_levenberg\_marquardt\_get\_mu0@{opt\_levenberg\_marquardt\_get\_mu0}}
+\index{opt\_levenberg\_marquardt\_get\_mu0@{opt\_levenberg\_marquardt\_get\_mu0}!levenberg\_marquardt.h@{levenberg\_marquardt.h}}
+\doxysubsubsection{\texorpdfstring{opt\_levenberg\_marquardt\_get\_mu0()}{opt\_levenberg\_marquardt\_get\_mu0()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} opt\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide a pointer to the matrix $ J_f^{T} J_{f} $.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix $J_f^T J_f$. \\
+\hline
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix $J_f^T J_f$.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+parameter $ \rho_{\mu} $ 
+\end{DoxyReturn}
+
+
+Definition at line 227 of file levenberg\+\_\+marquardt.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by opt\+\_\+levenberg\+\_\+marquardt().
+
diff --git a/doc/doxygen/latex/loc__gauss__newton_8c.tex b/doc/doxygen/latex/loc__gauss__newton_8c.tex
new file mode 100644
index 0000000..59c30a0
--- /dev/null
+++ b/doc/doxygen/latex/loc__gauss__newton_8c.tex
@@ -0,0 +1,83 @@
+\hypertarget{loc__gauss__newton_8c}{}\doxysection{loc\+\_\+gauss\+\_\+newton.\+c File Reference}
+\label{loc__gauss__newton_8c}\index{loc\_gauss\_newton.c@{loc\_gauss\_newton.c}}
+
+
+Implement the Gauss--Newton algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{loc__gauss__newton_8c_aaba1f25cf23d5529e4fc3bca22f8784e}{loc\+\_\+gauss\+\_\+newton}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} start\+\_\+pos\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} fmin, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+pos\mbox{[}3\mbox{]}, void($\ast$f\+\_\+i)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the modified Gauss--Newton algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Gauss--Newton algorithm. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{loc__gauss__newton_8c_aaba1f25cf23d5529e4fc3bca22f8784e}\label{loc__gauss__newton_8c_aaba1f25cf23d5529e4fc3bca22f8784e}} 
+\index{loc\_gauss\_newton.c@{loc\_gauss\_newton.c}!loc\_gauss\_newton@{loc\_gauss\_newton}}
+\index{loc\_gauss\_newton@{loc\_gauss\_newton}!loc\_gauss\_newton.c@{loc\_gauss\_newton.c}}
+\doxysubsubsection{\texorpdfstring{loc\_gauss\_newton()}{loc\_gauss\_newton()}}
+{\footnotesize\ttfamily uint8\+\_\+t loc\+\_\+gauss\+\_\+newton (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{start\+\_\+pos\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{fmin,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+pos\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{f\+\_\+i,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+Tf }\end{DoxyParamCaption})}
+
+
+
+Implements the modified Gauss--Newton algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+pos\mbox{[}$\,$\mbox{]}} & start (approximate) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em fmin} & termination tolerance on the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the Gauss-\/\+Newton algorithm. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em est\+\_\+pos\mbox{[}$\,$\mbox{]}} & estimated (optimized) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$f\+\_\+i)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the $ J_f^{T} J_{f} $ matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)} & pointer to the function that calculates the $ J_f^{T} \vec{f} $ vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 30 of file loc\+\_\+gauss\+\_\+newton.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), utils\+\_\+max(), vector\+\_\+copy(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+norm2(), and vector\+\_\+sub().
+
+
+
+Referenced by position\+\_\+optimization\+\_\+test().
+
diff --git a/doc/doxygen/latex/loc__gauss__newton_8h.tex b/doc/doxygen/latex/loc__gauss__newton_8h.tex
new file mode 100644
index 0000000..40350b4
--- /dev/null
+++ b/doc/doxygen/latex/loc__gauss__newton_8h.tex
@@ -0,0 +1,84 @@
+\hypertarget{loc__gauss__newton_8h}{}\doxysection{loc\+\_\+gauss\+\_\+newton.\+h File Reference}
+\label{loc__gauss__newton_8h}\index{loc\_gauss\_newton.h@{loc\_gauss\_newton.h}}
+
+
+Implement the Gauss--Newton algorithm for position optimization.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{loc__gauss__newton_8h_aaba1f25cf23d5529e4fc3bca22f8784e}{loc\+\_\+gauss\+\_\+newton}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} start\+\_\+pos\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} fmin, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+pos\mbox{[}3\mbox{]}, void($\ast$f\+\_\+i)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the modified Gauss--Newton algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Gauss--Newton algorithm for position optimization. 
+
+\begin{DoxyNote}{Note}
+This function is adapted for localization algorithms.
+\end{DoxyNote}
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{loc__gauss__newton_8h_aaba1f25cf23d5529e4fc3bca22f8784e}\label{loc__gauss__newton_8h_aaba1f25cf23d5529e4fc3bca22f8784e}} 
+\index{loc\_gauss\_newton.h@{loc\_gauss\_newton.h}!loc\_gauss\_newton@{loc\_gauss\_newton}}
+\index{loc\_gauss\_newton@{loc\_gauss\_newton}!loc\_gauss\_newton.h@{loc\_gauss\_newton.h}}
+\doxysubsubsection{\texorpdfstring{loc\_gauss\_newton()}{loc\_gauss\_newton()}}
+{\footnotesize\ttfamily uint8\+\_\+t loc\+\_\+gauss\+\_\+newton (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{start\+\_\+pos\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{fmin,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+pos\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{f\+\_\+i,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+Tf }\end{DoxyParamCaption})}
+
+
+
+Implements the modified Gauss--Newton algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+pos\mbox{[}$\,$\mbox{]}} & start (approximate) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em fmin} & termination tolerance on the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the Gauss-\/\+Newton algorithm. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em est\+\_\+pos\mbox{[}$\,$\mbox{]}} & estimated (optimized) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$f\+\_\+i)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the $ J_f^{T} J_{f} $ matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)} & pointer to the function that calculates the $ J_f^{T} \vec{f} $ vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 30 of file loc\+\_\+gauss\+\_\+newton.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), utils\+\_\+max(), vector\+\_\+copy(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+norm2(), and vector\+\_\+sub().
+
+
+
+Referenced by position\+\_\+optimization\+\_\+test().
+
diff --git a/doc/doxygen/latex/loc__levenberg__marquardt_8c.tex b/doc/doxygen/latex/loc__levenberg__marquardt_8c.tex
new file mode 100644
index 0000000..a4ba24f
--- /dev/null
+++ b/doc/doxygen/latex/loc__levenberg__marquardt_8c.tex
@@ -0,0 +1,222 @@
+\hypertarget{loc__levenberg__marquardt_8c}{}\doxysection{loc\+\_\+levenberg\+\_\+marquardt.\+c File Reference}
+\label{loc__levenberg__marquardt_8c}\index{loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}}
+
+
+Implement the Levenberg--Marquardt (L\+VM) algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}solve.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}loc\+\_\+levenberg\+\_\+marquardt.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{loc__levenberg__marquardt_8c_a9b2c27f650c9db97f2923b645a8ca5f6}{loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mu, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, void($\ast$f\+\_\+i)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the correction-\/function of the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{loc__levenberg__marquardt_8c_a09fdd720ff5c5658e160657153ee615f}{loc\+\_\+levenberg\+\_\+marquardt}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} start\+\_\+pos\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta0, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta1, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} est\+\_\+pos\mbox{[}3\mbox{]}, void($\ast$f\+\_\+i)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{loc__levenberg__marquardt_8c_a34f52d51278453ca0fc0818a1f73a357}{loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{loc__levenberg__marquardt_8c_a4bad4d347859b95ac176779b34f26f8e}{loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+I}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mu, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+T\+J\+\_\+mu2\+\_\+I\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}, void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Compute the matrix $ J_f^{T} J_f + \mu^{(i)})^{2} I $. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Levenberg--Marquardt (L\+VM) algorithm. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{loc__levenberg__marquardt_8c_a09fdd720ff5c5658e160657153ee615f}\label{loc__levenberg__marquardt_8c_a09fdd720ff5c5658e160657153ee615f}} 
+\index{loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}!loc\_levenberg\_marquardt@{loc\_levenberg\_marquardt}}
+\index{loc\_levenberg\_marquardt@{loc\_levenberg\_marquardt}!loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt()}{loc\_levenberg\_marquardt()}}
+{\footnotesize\ttfamily uint8\+\_\+t loc\+\_\+levenberg\+\_\+marquardt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{start\+\_\+pos\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta0,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta1,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{est\+\_\+pos\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{f\+\_\+i,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+Tf,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s }\end{DoxyParamCaption})}
+
+
+
+Implements the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+pos\mbox{[}$\,$\mbox{]}} & start (approximate) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta0} & $ \beta_0 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta1} & $ \beta_1 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the L\+VM algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+pos\mbox{[}$\,$\mbox{]}} & estimated (optimized) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$f\+\_\+i)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the matrix $ J_f^{T} J_{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)} & pointer to the function that calculates the vector $ J_f^{T} \vec{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)} & pointer to the function that calculates the vector $ J_f^{T} \vec{s} $.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 126 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+References loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+\+I(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0(), matrix\+\_\+mul\+\_\+scalar(), matrix\+\_\+t, solve\+\_\+householder(), vector\+\_\+add(), vector\+\_\+copy(), and vector\+\_\+get\+\_\+norm2().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{loc__levenberg__marquardt_8c_a9b2c27f650c9db97f2923b645a8ca5f6}\label{loc__levenberg__marquardt_8c_a9b2c27f650c9db97f2923b645a8ca5f6}} 
+\index{loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}!loc\_levenberg\_marquardt\_correction@{loc\_levenberg\_marquardt\_correction}}
+\index{loc\_levenberg\_marquardt\_correction@{loc\_levenberg\_marquardt\_correction}!loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt\_correction()}{loc\_levenberg\_marquardt\_correction()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mu,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{s\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{f\+\_\+i,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+Tf,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s }\end{DoxyParamCaption})}
+
+
+
+Implements the correction-\/function of the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & a position to adjust. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em mu} & regularization parameter $ \mu $. \\
+\hline
+\mbox{\texttt{ out}}  & {\em s\mbox{[}$\,$\mbox{]}} & correction vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$f\+\_\+i)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the matrix $ J_f^{T} J_{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)} & pointer to the function that calculates the vector $ J_f^{T} \vec{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)} & pointer to the function that calculates the vector $ J_f^{T} \vec{s} $\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the parameter $ \rho_{\mu} $ 
+\end{DoxyReturn}
+
+
+Definition at line 34 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+References loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+\+I(), matrix\+\_\+mul\+\_\+scalar(), matrix\+\_\+t, solve\+\_\+householder(), vector\+\_\+add(), and vector\+\_\+get\+\_\+scalar\+\_\+product().
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt().
+
+\mbox{\Hypertarget{loc__levenberg__marquardt_8c_a4bad4d347859b95ac176779b34f26f8e}\label{loc__levenberg__marquardt_8c_a4bad4d347859b95ac176779b34f26f8e}} 
+\index{loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}!loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I@{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I}}
+\index{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I@{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I}!loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I()}{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I()}}
+{\footnotesize\ttfamily void loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+I (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mu,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+T\+J\+\_\+mu2\+\_\+I\mbox{[}3\mbox{]}\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ }\end{DoxyParamCaption})}
+
+
+
+Compute the matrix $ J_f^{T} J_f + \mu^{(i)})^{2} I $. 
+
+\begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & a position to adjust. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em mu} & $ \rho_{\mu} $-\/parameter \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\+T\+J\+\_\+mu2\+\_\+\+I\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the matrix $ J_f^{T} J_f + \mu^{(i)})^{2} I $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the matrix $ J_f^{T} J_{f} $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 236 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt(), and loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{loc__levenberg__marquardt_8c_a34f52d51278453ca0fc0818a1f73a357}\label{loc__levenberg__marquardt_8c_a34f52d51278453ca0fc0818a1f73a357}} 
+\index{loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}!loc\_levenberg\_marquardt\_get\_mu0@{loc\_levenberg\_marquardt\_get\_mu0}}
+\index{loc\_levenberg\_marquardt\_get\_mu0@{loc\_levenberg\_marquardt\_get\_mu0}!loc\_levenberg\_marquardt.c@{loc\_levenberg\_marquardt.c}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt\_get\_mu0()}{loc\_levenberg\_marquardt\_get\_mu0()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0 (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide a pointer to the matrix $ J_f^{T} J_{f} $.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix $ J_f^T J_f $.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+$ \rho_{\mu} $-\/parameter 
+\end{DoxyReturn}
+
+
+Definition at line 223 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt().
+
diff --git a/doc/doxygen/latex/loc__levenberg__marquardt_8h.tex b/doc/doxygen/latex/loc__levenberg__marquardt_8h.tex
new file mode 100644
index 0000000..53aee02
--- /dev/null
+++ b/doc/doxygen/latex/loc__levenberg__marquardt_8h.tex
@@ -0,0 +1,221 @@
+\hypertarget{loc__levenberg__marquardt_8h}{}\doxysection{loc\+\_\+levenberg\+\_\+marquardt.\+h File Reference}
+\label{loc__levenberg__marquardt_8h}\index{loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}}
+
+
+Implement the Levenberg--Marquardt (L\+VM) algorithm for position optimization.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{loc__levenberg__marquardt_8h_a09fdd720ff5c5658e160657153ee615f}{loc\+\_\+levenberg\+\_\+marquardt}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} start\+\_\+pos\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta0, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} beta1, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} est\+\_\+pos\mbox{[}3\mbox{]}, void($\ast$f\+\_\+i)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{loc__levenberg__marquardt_8h_a9b2c27f650c9db97f2923b645a8ca5f6}{loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mu, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, void($\ast$f\+\_\+i)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]}), void($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the correction-\/function of the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{loc__levenberg__marquardt_8h_a34f52d51278453ca0fc0818a1f73a357}{loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tau, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{loc__levenberg__marquardt_8h_a4bad4d347859b95ac176779b34f26f8e}{loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+I}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mu, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+T\+J\+\_\+mu2\+\_\+I\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}, void($\ast$jacobian\+\_\+get\+\_\+\+J\+TJ)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Compute the matrix $ J_f^{T} J_f + \mu^{(i)})^{2} I $. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Levenberg--Marquardt (L\+VM) algorithm for position optimization. 
+
+\begin{DoxyNote}{Note}
+This function is adapted for localization algorithms.
+\end{DoxyNote}
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{loc__levenberg__marquardt_8h_a09fdd720ff5c5658e160657153ee615f}\label{loc__levenberg__marquardt_8h_a09fdd720ff5c5658e160657153ee615f}} 
+\index{loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}!loc\_levenberg\_marquardt@{loc\_levenberg\_marquardt}}
+\index{loc\_levenberg\_marquardt@{loc\_levenberg\_marquardt}!loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt()}{loc\_levenberg\_marquardt()}}
+{\footnotesize\ttfamily uint8\+\_\+t loc\+\_\+levenberg\+\_\+marquardt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{start\+\_\+pos\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta0,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{beta1,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{est\+\_\+pos\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{f\+\_\+i,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+Tf,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s }\end{DoxyParamCaption})}
+
+
+
+Implements the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+pos\mbox{[}$\,$\mbox{]}} & start (approximate) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta0} & $ \beta_0 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em beta1} & $ \beta_1 $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the L\+VM algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+pos\mbox{[}$\,$\mbox{]}} & estimated (optimized) position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$f\+\_\+i)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the matrix $ J_f^{T} J_{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)} & pointer to the function that calculates the vector $ J_f^{T} \vec{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)} & pointer to the function that calculates the vector $ J_f^{T} \vec{s} $.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 126 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+References loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+\+I(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0(), matrix\+\_\+mul\+\_\+scalar(), matrix\+\_\+t, solve\+\_\+householder(), vector\+\_\+add(), vector\+\_\+copy(), and vector\+\_\+get\+\_\+norm2().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and position\+\_\+optimization\+\_\+test().
+
+\mbox{\Hypertarget{loc__levenberg__marquardt_8h_a9b2c27f650c9db97f2923b645a8ca5f6}\label{loc__levenberg__marquardt_8h_a9b2c27f650c9db97f2923b645a8ca5f6}} 
+\index{loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}!loc\_levenberg\_marquardt\_correction@{loc\_levenberg\_marquardt\_correction}}
+\index{loc\_levenberg\_marquardt\_correction@{loc\_levenberg\_marquardt\_correction}!loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt\_correction()}{loc\_levenberg\_marquardt\_correction()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mu,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{s\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+mat\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} d\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{f\+\_\+i,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+Tf,  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s }\end{DoxyParamCaption})}
+
+
+
+Implements the correction-\/function of the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & a position to adjust. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em mu} & regularization parameter $ \mu $. \\
+\hline
+\mbox{\texttt{ out}}  & {\em s\mbox{[}$\,$\mbox{]}} & correction vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$f\+\_\+i)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the matrix $ J_f^{T} J_{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+Tf)} & pointer to the function that calculates the vector $ J_f^{T} \vec{f} $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s)} & pointer to the function that calculates the vector $ J_f^{T} \vec{s} $\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the parameter $ \rho_{\mu} $ 
+\end{DoxyReturn}
+
+
+Definition at line 34 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+References loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+\+I(), matrix\+\_\+mul\+\_\+scalar(), matrix\+\_\+t, solve\+\_\+householder(), vector\+\_\+add(), and vector\+\_\+get\+\_\+scalar\+\_\+product().
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt().
+
+\mbox{\Hypertarget{loc__levenberg__marquardt_8h_a4bad4d347859b95ac176779b34f26f8e}\label{loc__levenberg__marquardt_8h_a4bad4d347859b95ac176779b34f26f8e}} 
+\index{loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}!loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I@{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I}}
+\index{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I@{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I}!loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I()}{loc\_levenberg\_marquardt\_get\_JTJ\_mu2\_I()}}
+{\footnotesize\ttfamily void loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+\+J\+T\+J\+\_\+mu2\+\_\+I (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mu,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+T\+J\+\_\+mu2\+\_\+I\mbox{[}3\mbox{]}\mbox{[}3\mbox{]},  }\item[{void($\ast$)(uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} data\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})}]{jacobian\+\_\+get\+\_\+\+J\+TJ }\end{DoxyParamCaption})}
+
+
+
+Compute the matrix $ J_f^{T} J_f + \mu^{(i)})^{2} I $. 
+
+\begin{DoxyNote}{Note}
+This function is optimized for localization algorithms.
+\end{DoxyNote}
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & a position to adjust. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the measured data. \\
+\hline
+\mbox{\texttt{ in}}  & {\em mu} & $ \rho_{\mu} $-\/parameter \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\+T\+J\+\_\+mu2\+\_\+\+I\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the matrix $ J_f^{T} J_f + \mu^{(i)})^{2} I $. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$jacobian\+\_\+get\+\_\+\+J\+T\+J)} & pointer to the function that calculates the matrix $ J_f^{T} J_{f} $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 236 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt(), and loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{loc__levenberg__marquardt_8h_a34f52d51278453ca0fc0818a1f73a357}\label{loc__levenberg__marquardt_8h_a34f52d51278453ca0fc0818a1f73a357}} 
+\index{loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}!loc\_levenberg\_marquardt\_get\_mu0@{loc\_levenberg\_marquardt\_get\_mu0}}
+\index{loc\_levenberg\_marquardt\_get\_mu0@{loc\_levenberg\_marquardt\_get\_mu0}!loc\_levenberg\_marquardt.h@{loc\_levenberg\_marquardt.h}}
+\doxysubsubsection{\texorpdfstring{loc\_levenberg\_marquardt\_get\_mu0()}{loc\_levenberg\_marquardt\_get\_mu0()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} loc\+\_\+levenberg\+\_\+marquardt\+\_\+get\+\_\+mu0 (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tau,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the initial value $ \mu_0 $ of the Levenberg--Marquardt (L\+VM) algorithm. 
+
+The user should provide a pointer to the matrix $ J_f^{T} J_{f} $.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em tau} & $ \tau $ factor. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix $ J_f^T J_f $.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+$ \rho_{\mu} $-\/parameter 
+\end{DoxyReturn}
+
+
+Definition at line 223 of file loc\+\_\+levenberg\+\_\+marquardt.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt().
+
diff --git a/doc/doxygen/latex/longtable_doxygen.sty b/doc/doxygen/latex/longtable_doxygen.sty
new file mode 100644
index 0000000..a0eb314
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+++ b/doc/doxygen/latex/longtable_doxygen.sty
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+%% The source is maintained by the LaTeX Project team and bug
+%% reports for it can be opened at http://latex-project.org/bugs.html
+%% (but please observe conditions on bug reports sent to that address!)
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+%% version 2005/12/01 or later.
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+%% This file may only be distributed together with a copy of the LaTeX
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+  \@gtempa}
+\def\LT@caption{%
+  \noalign\bgroup
+    \@ifnextchar[{\egroup\LT@c@ption\@firstofone}\LT@capti@n}
+\def\LT@c@ption#1[#2]#3{%
+  \LT@makecaption#1\fnum@table{#3}%
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+  \ifx\@tempa\@empty\else
+     {\let\\\space
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+\def\LT@capti@n{%
+  \@ifstar
+    {\egroup\LT@c@ption\@gobble[]}%
+    {\egroup\@xdblarg{\LT@c@ption\@firstofone}}}
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+  \LT@mcol\LT@cols c{\hbox to\z@{\hss\parbox[t]\LTcapwidth{%
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+\def\LT@output{%
+  \ifnum\outputpenalty <-\@Mi
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+      \LT@err{floats and marginpars not allowed in a longtable}\@ehc
+    \else
+      \setbox\z@\vbox{\unvbox\@cclv}%
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+          \@makecol
+          \@outputpage
+          \setbox\z@\vbox{\box\LT@head}%
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+      \global\@colroom\@colht
+      \global\vsize\@colht
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+        {\unvbox\z@\box\ifvoid\LT@lastfoot\LT@foot\else\LT@lastfoot\fi}%
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+  \LT@echunk
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+    \LT@err
+     {Longtable head or foot not at start of table}%
+     {Increase LTchunksize}%
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+\def\endfirsthead{\LT@end@hd@ft\LT@firsthead}
+\def\endhead{\LT@end@hd@ft\LT@head}
+\def\endfoot{\LT@end@hd@ft\LT@foot}
+\def\endlastfoot{\LT@end@hd@ft\LT@lastfoot}
+\def\LT@startpbox#1{%
+  \bgroup
+    \let\@footnotetext\LT@p@ftntext
+    \setlength\hsize{#1}%
+    \@arrayparboxrestore
+    \vrule \@height \ht\@arstrutbox \@width \z@}
+\def\LT@endpbox{%
+  \@finalstrut\@arstrutbox
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+\def\LT@p@ftntext#1{%
+  \edef\@tempa{\the\LT@p@ftn\noexpand\footnotetext[\the\c@footnote]}%
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+\@namedef{ver@longtable.sty}{2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen}
+\endinput
+%%
+%% End of file `longtable.sty'.
diff --git a/doc/doxygen/latex/lu__decomp_8c.tex b/doc/doxygen/latex/lu__decomp_8c.tex
new file mode 100644
index 0000000..b773fd5
--- /dev/null
+++ b/doc/doxygen/latex/lu__decomp_8c.tex
@@ -0,0 +1,70 @@
+\hypertarget{lu__decomp_8c}{}\doxysection{lu\+\_\+decomp.\+c File Reference}
+\label{lu__decomp_8c}\index{lu\_decomp.c@{lu\_decomp.c}}
+
+
+Computes the LU decomposition of the matrix.  
+
+
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{lu__decomp_8c_a8649e9f4b85f17bf35a22b18e7f239d7}{lu\+\_\+decomp}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} P\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the LU decomposition of the matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Computes the LU decomposition of the matrix. 
+
+Computes the permutation matrix P such that\+: A = P\textquotesingle{}$\ast$\+L$\ast$U, where L is a lower triangular matrix and U is an upper triangular matrix. It implements the Gaussian Elimination (GE) with pivoting algorithm.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{lu__decomp_8c_a8649e9f4b85f17bf35a22b18e7f239d7}\label{lu__decomp_8c_a8649e9f4b85f17bf35a22b18e7f239d7}} 
+\index{lu\_decomp.c@{lu\_decomp.c}!lu\_decomp@{lu\_decomp}}
+\index{lu\_decomp@{lu\_decomp}!lu\_decomp.c@{lu\_decomp.c}}
+\doxysubsubsection{\texorpdfstring{lu\_decomp()}{lu\_decomp()}}
+{\footnotesize\ttfamily uint8\+\_\+t lu\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{P\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the LU decomposition of the matrix. 
+
+Computes the permutation matrix P such that\+: A = P\textquotesingle{}$\ast$\+L$\ast$U, where L is a lower triangular matrix and U is an upper triangular matrix. It implements the Gaussian Elimination with pivoting algorithm.
+
+\begin{DoxyNote}{Note}
+Matrix U is stored in the matrix A.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrices A and U. \\
+\hline
+\mbox{\texttt{ out}}  & {\em L\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the L matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em P\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the P matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the number of changes by computing the LU decomposition. 
+\end{DoxyReturn}
+
+
+Definition at line 31 of file lu\+\_\+decomp.\+c.
+
+
+
+References matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+and\+\_\+index\+\_\+in\+\_\+part\+\_\+column(), matrix\+\_\+get\+\_\+diag\+\_\+mat(), matrix\+\_\+part\+\_\+swap\+\_\+rows(), matrix\+\_\+swap\+\_\+rows(), and matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp\+\_\+test(), and solve\+\_\+lu\+\_\+decomp().
+
diff --git a/doc/doxygen/latex/lu__decomp_8h.tex b/doc/doxygen/latex/lu__decomp_8h.tex
new file mode 100644
index 0000000..5f97447
--- /dev/null
+++ b/doc/doxygen/latex/lu__decomp_8h.tex
@@ -0,0 +1,67 @@
+\hypertarget{lu__decomp_8h}{}\doxysection{lu\+\_\+decomp.\+h File Reference}
+\label{lu__decomp_8h}\index{lu\_decomp.h@{lu\_decomp.h}}
+
+
+Computes the LU decomposition of the matrix.  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{lu__decomp_8h_a8649e9f4b85f17bf35a22b18e7f239d7}{lu\+\_\+decomp}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} P\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the LU decomposition of the matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Computes the LU decomposition of the matrix. 
+
+Computes the permutation matrix P such that\+: A = P\textquotesingle{}$\ast$\+L$\ast$U, where L is a lower triangular matrix and U is an upper triangular matrix. It implements the Gaussian Elimination (GE) with pivoting algorithm.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{lu__decomp_8h_a8649e9f4b85f17bf35a22b18e7f239d7}\label{lu__decomp_8h_a8649e9f4b85f17bf35a22b18e7f239d7}} 
+\index{lu\_decomp.h@{lu\_decomp.h}!lu\_decomp@{lu\_decomp}}
+\index{lu\_decomp@{lu\_decomp}!lu\_decomp.h@{lu\_decomp.h}}
+\doxysubsubsection{\texorpdfstring{lu\_decomp()}{lu\_decomp()}}
+{\footnotesize\ttfamily uint8\+\_\+t lu\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{P\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the LU decomposition of the matrix. 
+
+Computes the permutation matrix P such that\+: A = P\textquotesingle{}$\ast$\+L$\ast$U, where L is a lower triangular matrix and U is an upper triangular matrix. It implements the Gaussian Elimination with pivoting algorithm.
+
+\begin{DoxyNote}{Note}
+Matrix U is stored in the matrix A.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrices A and U. \\
+\hline
+\mbox{\texttt{ out}}  & {\em L\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the L matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em P\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the P matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the number of changes by computing the LU decomposition. 
+\end{DoxyReturn}
+
+
+Definition at line 31 of file lu\+\_\+decomp.\+c.
+
+
+
+References matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+and\+\_\+index\+\_\+in\+\_\+part\+\_\+column(), matrix\+\_\+get\+\_\+diag\+\_\+mat(), matrix\+\_\+part\+\_\+swap\+\_\+rows(), matrix\+\_\+swap\+\_\+rows(), and matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp\+\_\+test(), and solve\+\_\+lu\+\_\+decomp().
+
diff --git a/doc/doxygen/latex/lu__decomp__test_8c.tex b/doc/doxygen/latex/lu__decomp__test_8c.tex
new file mode 100644
index 0000000..b6a40bf
--- /dev/null
+++ b/doc/doxygen/latex/lu__decomp__test_8c.tex
@@ -0,0 +1,26 @@
+\hypertarget{lu__decomp__test_8c}{}\doxysection{lu\+\_\+decomp\+\_\+test.\+c File Reference}
+\label{lu__decomp__test_8c}\index{lu\_decomp\_test.c@{lu\_decomp\_test.c}}
+
+
+Examples of the LU algorithm with pivoting.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}lu\+\_\+decomp.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{lu__decomp__test_8c_a5798fee8a59a44f3a6a712ffd700dfd1}\label{lu__decomp__test_8c_a5798fee8a59a44f3a6a712ffd700dfd1}} 
+void \mbox{\hyperlink{lu__decomp__test_8c_a5798fee8a59a44f3a6a712ffd700dfd1}{lu\+\_\+decomp\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the LU algorithm with pivoting. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the LU algorithm with pivoting. 
+
+LU algorithm with pivoting examples (see the \mbox{\hyperlink{lu__decomp_8h}{Gaussian Elimination with pivoting}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/lu__decomp__test_8h.tex b/doc/doxygen/latex/lu__decomp__test_8h.tex
new file mode 100644
index 0000000..a34f17c
--- /dev/null
+++ b/doc/doxygen/latex/lu__decomp__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{lu__decomp__test_8h}{}\doxysection{lu\+\_\+decomp\+\_\+test.\+h File Reference}
+\label{lu__decomp__test_8h}\index{lu\_decomp\_test.h@{lu\_decomp\_test.h}}
+
+
+Examples of the LU algorithm with pivoting.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{lu__decomp__test_8h_a5798fee8a59a44f3a6a712ffd700dfd1}\label{lu__decomp__test_8h_a5798fee8a59a44f3a6a712ffd700dfd1}} 
+void \mbox{\hyperlink{lu__decomp__test_8h_a5798fee8a59a44f3a6a712ffd700dfd1}{lu\+\_\+decomp\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the LU algorithm with pivoting. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the LU algorithm with pivoting. 
+
+LU algorithm with pivoting examples (see the \mbox{\hyperlink{lu__decomp_8h}{Gaussian Elimination with pivoting}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/magnetic__based__fi_8c.tex b/doc/doxygen/latex/magnetic__based__fi_8c.tex
new file mode 100644
index 0000000..d999b49
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__fi_8c.tex
@@ -0,0 +1,66 @@
+\hypertarget{magnetic__based__fi_8c}{}\doxysection{magnetic\+\_\+based\+\_\+fi.\+c File Reference}
+\label{magnetic__based__fi_8c}\index{magnetic\_based\_fi.c@{magnetic\_based\_fi.c}}
+
+
+Error function of D\+C-\/pulsed, magnetic localization system.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$magnetic\+\_\+based\+\_\+position.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{magnetic__based__fi_8c_a897f5c675ad714feb9f2ae7571de620a}{magnetic\+\_\+based\+\_\+f\+\_\+i}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Bi\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines the error function of a magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Error function of D\+C-\/pulsed, magnetic localization system. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{magnetic__based__fi_8c_a897f5c675ad714feb9f2ae7571de620a}\label{magnetic__based__fi_8c_a897f5c675ad714feb9f2ae7571de620a}} 
+\index{magnetic\_based\_fi.c@{magnetic\_based\_fi.c}!magnetic\_based\_f\_i@{magnetic\_based\_f\_i}}
+\index{magnetic\_based\_f\_i@{magnetic\_based\_f\_i}!magnetic\_based\_fi.c@{magnetic\_based\_fi.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_f\_i()}{magnetic\_based\_f\_i()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+f\+\_\+i (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Bi\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines the error function of a magnetic-\/based localization system. 
+
+This error function is related to multiple reference stations.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em Bi\+\_\+vec\mbox{[}$\,$\mbox{]}} & the measured magnetic field strength. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & errors related to reference stations and destined position. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 29 of file magnetic\+\_\+based\+\_\+fi.\+c.
+
+
+
+References K\+\_\+T, and matrix\+\_\+t.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf().
+
diff --git a/doc/doxygen/latex/magnetic__based__fi_8h.tex b/doc/doxygen/latex/magnetic__based__fi_8h.tex
new file mode 100644
index 0000000..ebf3df7
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__fi_8h.tex
@@ -0,0 +1,65 @@
+\hypertarget{magnetic__based__fi_8h}{}\doxysection{magnetic\+\_\+based\+\_\+fi.\+h File Reference}
+\label{magnetic__based__fi_8h}\index{magnetic\_based\_fi.h@{magnetic\_based\_fi.h}}
+
+
+Error function of D\+C-\/pulsed, magnetic localization system.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{magnetic__based__fi_8h_a897f5c675ad714feb9f2ae7571de620a}{magnetic\+\_\+based\+\_\+f\+\_\+i}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Bi\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines the error function of a magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Error function of D\+C-\/pulsed, magnetic localization system. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{magnetic__based__fi_8h_a897f5c675ad714feb9f2ae7571de620a}\label{magnetic__based__fi_8h_a897f5c675ad714feb9f2ae7571de620a}} 
+\index{magnetic\_based\_fi.h@{magnetic\_based\_fi.h}!magnetic\_based\_f\_i@{magnetic\_based\_f\_i}}
+\index{magnetic\_based\_f\_i@{magnetic\_based\_f\_i}!magnetic\_based\_fi.h@{magnetic\_based\_fi.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_f\_i()}{magnetic\_based\_f\_i()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+f\+\_\+i (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Bi\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines the error function of a magnetic-\/based localization system. 
+
+This error function is related to multiple reference stations.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em Bi\+\_\+vec\mbox{[}$\,$\mbox{]}} & the measured magnetic field strength. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & errors related to reference stations and destined position. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 29 of file magnetic\+\_\+based\+\_\+fi.\+c.
+
+
+
+References K\+\_\+T, and matrix\+\_\+t.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf().
+
diff --git a/doc/doxygen/latex/magnetic__based__jacobian_8c.tex b/doc/doxygen/latex/magnetic__based__jacobian_8c.tex
new file mode 100644
index 0000000..37bf024
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__jacobian_8c.tex
@@ -0,0 +1,171 @@
+\hypertarget{magnetic__based__jacobian_8c}{}\doxysection{magnetic\+\_\+based\+\_\+jacobian.\+c File Reference}
+\label{magnetic__based__jacobian_8c}\index{magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}}
+
+
+Jacobian function of D\+C-\/pulsed, magnetic localization system.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$stdlib.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}magnetic\+\_\+based\+\_\+fi.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}magnetic\+\_\+based\+\_\+position.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8c_ac3aca0a9af6ad84f6c010a215239f224}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J}} (uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the Jacobian matrix of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8c_aa66e6f52fd806c36f4b735b7c4c3307e}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} $\ast$unused, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} J_{f} $ of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8c_a87f1c7a7d6b151883c2308de275269b8}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Bi\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} \vec{f} $ of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8c_ae1e7849d86970a33ef5b784705ebc2fc}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes $ J_f^{T} \vec{s} $ of magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Jacobian function of D\+C-\/pulsed, magnetic localization system. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{magnetic__based__jacobian_8c_ac3aca0a9af6ad84f6c010a215239f224}\label{magnetic__based__jacobian_8c_ac3aca0a9af6ad84f6c010a215239f224}} 
+\index{magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}!magnetic\_based\_jacobian\_get\_J@{magnetic\_based\_jacobian\_get\_J}}
+\index{magnetic\_based\_jacobian\_get\_J@{magnetic\_based\_jacobian\_get\_J}!magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_J()}{magnetic\_based\_jacobian\_get\_J()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+point\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the Jacobian matrix of magnetic-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the Jacobian Matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 32 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References K\+\_\+T, and matrix\+\_\+t.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), and magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J().
+
+\mbox{\Hypertarget{magnetic__based__jacobian_8c_ae1e7849d86970a33ef5b784705ebc2fc}\label{magnetic__based__jacobian_8c_ae1e7849d86970a33ef5b784705ebc2fc}} 
+\index{magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}!magnetic\_based\_jacobian\_get\_J\_mul\_s@{magnetic\_based\_jacobian\_get\_J\_mul\_s}}
+\index{magnetic\_based\_jacobian\_get\_J\_mul\_s@{magnetic\_based\_jacobian\_get\_J\_mul\_s}!magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_J\_mul\_s()}{magnetic\_based\_jacobian\_get\_J\_mul\_s()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{s\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes $ J_f^{T} \vec{s} $ of magnetic-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em s\mbox{[}$\,$\mbox{]}} & correction vector. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+\_\+s\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{s} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 130 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References K\+\_\+T, and matrix\+\_\+t.
+
+\mbox{\Hypertarget{magnetic__based__jacobian_8c_a87f1c7a7d6b151883c2308de275269b8}\label{magnetic__based__jacobian_8c_a87f1c7a7d6b151883c2308de275269b8}} 
+\index{magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}!magnetic\_based\_jacobian\_get\_JTf@{magnetic\_based\_jacobian\_get\_JTf}}
+\index{magnetic\_based\_jacobian\_get\_JTf@{magnetic\_based\_jacobian\_get\_JTf}!magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_JTf()}{magnetic\_based\_jacobian\_get\_JTf()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Bi\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+Tf\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} \vec{f} $ of magnetic-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em Bi\+\_\+vec\mbox{[}$\,$\mbox{]}} & magnetic field strengths of the coils (reference stations). \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+Tf\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{f} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 112 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References magnetic\+\_\+based\+\_\+f\+\_\+i(), magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J(), matrix\+\_\+t, and matrix\+\_\+trans\+\_\+mul\+\_\+vec().
+
+\mbox{\Hypertarget{magnetic__based__jacobian_8c_aa66e6f52fd806c36f4b735b7c4c3307e}\label{magnetic__based__jacobian_8c_aa66e6f52fd806c36f4b735b7c4c3307e}} 
+\index{magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}!magnetic\_based\_jacobian\_get\_JTJ@{magnetic\_based\_jacobian\_get\_JTJ}}
+\index{magnetic\_based\_jacobian\_get\_JTJ@{magnetic\_based\_jacobian\_get\_JTJ}!magnetic\_based\_jacobian.c@{magnetic\_based\_jacobian.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_JTJ()}{magnetic\_based\_jacobian\_get\_JTJ()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} $\ast$}]{unused,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} J_{f} $ of magnetic-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em unused} & this variable can be set to N\+U\+LL. It is introduced to guarantee the compatibility with the \mbox{\hyperlink{dist__based__jacobian_8h_a59b1a3323c2896ff28f71135af0204a2}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ}}, \mbox{\hyperlink{modified__gauss__newton_8c_a7376799043ad2c27fac02371624051bc}{modified\+\_\+gauss\+\_\+newton}}, and the \mbox{\hyperlink{levenberg__marquardt_8c_a2a72b2b6be15a9998b61a9c0097e3d5f}{opt\+\_\+levenberg\+\_\+marquardt}} functions. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} J_{f} $ matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 99 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J(), matrix\+\_\+t, and matrix\+\_\+trans\+\_\+mul\+\_\+itself().
+
diff --git a/doc/doxygen/latex/magnetic__based__jacobian_8h.tex b/doc/doxygen/latex/magnetic__based__jacobian_8h.tex
new file mode 100644
index 0000000..e100fa9
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__jacobian_8h.tex
@@ -0,0 +1,164 @@
+\hypertarget{magnetic__based__jacobian_8h}{}\doxysection{magnetic\+\_\+based\+\_\+jacobian.\+h File Reference}
+\label{magnetic__based__jacobian_8h}\index{magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}}
+
+
+Jacobian function of D\+C-\/pulsed, magnetic localization system.  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8h_ac3aca0a9af6ad84f6c010a215239f224}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J}} (uint8\+\_\+t ref\+\_\+point\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the Jacobian matrix of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8h_aa66e6f52fd806c36f4b735b7c4c3307e}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} $\ast$unused, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} J_{f} $ of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8h_a87f1c7a7d6b151883c2308de275269b8}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Bi\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+Tf\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Defines $ J_f^{T} \vec{f} $ of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__jacobian_8h_ae1e7849d86970a33ef5b784705ebc2fc}{magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s}} (uint8\+\_\+t ref\+\_\+points\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} s\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes $ J_f^{T} \vec{s} $ of magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Jacobian function of D\+C-\/pulsed, magnetic localization system. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{magnetic__based__jacobian_8h_ac3aca0a9af6ad84f6c010a215239f224}\label{magnetic__based__jacobian_8h_ac3aca0a9af6ad84f6c010a215239f224}} 
+\index{magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}!magnetic\_based\_jacobian\_get\_J@{magnetic\_based\_jacobian\_get\_J}}
+\index{magnetic\_based\_jacobian\_get\_J@{magnetic\_based\_jacobian\_get\_J}!magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_J()}{magnetic\_based\_jacobian\_get\_J()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+J (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+point\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}ref\+\_\+point\+\_\+num\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the Jacobian matrix of magnetic-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the Jacobian Matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 32 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References K\+\_\+T, and matrix\+\_\+t.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), and magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J().
+
+\mbox{\Hypertarget{magnetic__based__jacobian_8h_ae1e7849d86970a33ef5b784705ebc2fc}\label{magnetic__based__jacobian_8h_ae1e7849d86970a33ef5b784705ebc2fc}} 
+\index{magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}!magnetic\_based\_jacobian\_get\_J\_mul\_s@{magnetic\_based\_jacobian\_get\_J\_mul\_s}}
+\index{magnetic\_based\_jacobian\_get\_J\_mul\_s@{magnetic\_based\_jacobian\_get\_J\_mul\_s}!magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_J\_mul\_s()}{magnetic\_based\_jacobian\_get\_J\_mul\_s()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+\_\+mul\+\_\+s (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{s\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+\_\+s\mbox{[}ref\+\_\+points\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes $ J_f^{T} \vec{s} $ of magnetic-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em s\mbox{[}$\,$\mbox{]}} & correction vector. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+\_\+s\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{s} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 130 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References K\+\_\+T, and matrix\+\_\+t.
+
+\mbox{\Hypertarget{magnetic__based__jacobian_8h_a87f1c7a7d6b151883c2308de275269b8}\label{magnetic__based__jacobian_8h_a87f1c7a7d6b151883c2308de275269b8}} 
+\index{magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}!magnetic\_based\_jacobian\_get\_JTf@{magnetic\_based\_jacobian\_get\_JTf}}
+\index{magnetic\_based\_jacobian\_get\_JTf@{magnetic\_based\_jacobian\_get\_JTf}!magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_JTf()}{magnetic\_based\_jacobian\_get\_JTf()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+points\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Bi\+\_\+vec\mbox{[}ref\+\_\+points\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+Tf\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} \vec{f} $ of magnetic-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em Bi\+\_\+vec\mbox{[}$\,$\mbox{]}} & magnetic field strengths of the coils (reference stations). \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+Tf\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} \vec{f} $ vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 112 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References magnetic\+\_\+based\+\_\+f\+\_\+i(), magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J(), matrix\+\_\+t, and matrix\+\_\+trans\+\_\+mul\+\_\+vec().
+
+\mbox{\Hypertarget{magnetic__based__jacobian_8h_aa66e6f52fd806c36f4b735b7c4c3307e}\label{magnetic__based__jacobian_8h_aa66e6f52fd806c36f4b735b7c4c3307e}} 
+\index{magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}!magnetic\_based\_jacobian\_get\_JTJ@{magnetic\_based\_jacobian\_get\_JTJ}}
+\index{magnetic\_based\_jacobian\_get\_JTJ@{magnetic\_based\_jacobian\_get\_JTJ}!magnetic\_based\_jacobian.h@{magnetic\_based\_jacobian.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_jacobian\_get\_JTJ()}{magnetic\_based\_jacobian\_get\_JTJ()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{ref\+\_\+points\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}ref\+\_\+points\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} $\ast$}]{unused,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\+TJ\mbox{[}3\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Defines $ J_f^{T} J_{f} $ of magnetic-\/based localization system. 
+
+Where $ J_f $ is the Jacobian matrix. This function is a part of derivatives to minimize the sum of square errors.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+points\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em unused} & this variable can be set to N\+U\+LL. It is introduced to guarantee the compatibility with the \mbox{\hyperlink{dist__based__jacobian_8h_a59b1a3323c2896ff28f71135af0204a2}{dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+TJ}}, \mbox{\hyperlink{modified__gauss__newton_8c_a7376799043ad2c27fac02371624051bc}{modified\+\_\+gauss\+\_\+newton}}, and the \mbox{\hyperlink{levenberg__marquardt_8c_a2a72b2b6be15a9998b61a9c0097e3d5f}{opt\+\_\+levenberg\+\_\+marquardt}} functions. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em J\+T\+J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & includes the $ J_f^{T} J_{f} $ matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 99 of file magnetic\+\_\+based\+\_\+jacobian.\+c.
+
+
+
+References magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J(), matrix\+\_\+t, and matrix\+\_\+trans\+\_\+mul\+\_\+itself().
+
diff --git a/doc/doxygen/latex/magnetic__based__position_8c.tex b/doc/doxygen/latex/magnetic__based__position_8c.tex
new file mode 100644
index 0000000..797e5d2
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__position_8c.tex
@@ -0,0 +1,262 @@
+\hypertarget{magnetic__based__position_8c}{}\doxysection{magnetic\+\_\+based\+\_\+position.\+c File Reference}
+\label{magnetic__based__position_8c}\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+
+
+Functions of of D\+C-\/pulsed, magnetic localization system.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$complex.\+h$>$}\newline
+{\ttfamily \#include $<$magnetic\+\_\+based\+\_\+position.\+h$>$}\newline
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}trilateration.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{magnetic__based__position_8c_ad5a7513337486e277ea028480403569d}{magnetic\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Computes the absolute error of a position of magnet-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{magnetic__based__position_8c_ac852e4c0dcb8e9901aa3fab5efd91599}{magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the distance between a mobile station and a reference station of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{magnetic__based__position_8c_a361f3f3c4f9516a1aa6107367ebfda8d}{magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} target\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k)
+\begin{DoxyCompactList}\small\item\em Computes the magnetic field strength from a mobile station to a reference station. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__position_8c_aac026f28838a5b30c8f6f189e3ab354c}{magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field\+\_\+vec}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} target\+\_\+point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magn\+\_\+field\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the magnetic field strengths from a mobile station to various reference stations. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__position_8c_ae584dff239a0111c47b7c5d1e197af59}{magnetic\+\_\+based\+\_\+get\+\_\+distances}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+field\+\_\+strength\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} angular\+\_\+theta\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} distance\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k)
+\begin{DoxyCompactList}\small\item\em Computes the distances between a mobile station and the reference stations of a magnet-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{magnetic__based__position_8c_a01bb024303e8eb202a19dbd70b291c06}{magnetic\+\_\+based\+\_\+get\+\_\+r}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} B, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} theta, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k)
+\begin{DoxyCompactList}\small\item\em Computes the distance between a mobile station and a reference stations of a magnet-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__position_8c_af316f67cb87759b57bc815326b8d1cef}{magnetic\+\_\+based\+\_\+preprocessing\+\_\+get\+\_\+position}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the position of a mobile station by a magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Functions of of D\+C-\/pulsed, magnetic localization system. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{magnetic__based__position_8c_ad5a7513337486e277ea028480403569d}\label{magnetic__based__position_8c_ad5a7513337486e277ea028480403569d}} 
+\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}!magnetic\_based\_get\_absolute\_error@{magnetic\_based\_get\_absolute\_error}}
+\index{magnetic\_based\_get\_absolute\_error@{magnetic\_based\_get\_absolute\_error}!magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_absolute\_error()}{magnetic\_based\_get\_absolute\_error()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Computes the absolute error of a position of magnet-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em value\+\_\+arr} & true position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em approx\+\_\+value\+\_\+arr} & approximate position of the mobile device. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em absolute\+\_\+error\+\_\+arr} & includes the absolute error. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & arrays length. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 34 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+\mbox{\Hypertarget{magnetic__based__position_8c_ae584dff239a0111c47b7c5d1e197af59}\label{magnetic__based__position_8c_ae584dff239a0111c47b7c5d1e197af59}} 
+\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}!magnetic\_based\_get\_distances@{magnetic\_based\_get\_distances}}
+\index{magnetic\_based\_get\_distances@{magnetic\_based\_get\_distances}!magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_distances()}{magnetic\_based\_get\_distances()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+get\+\_\+distances (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{magnetic\+\_\+field\+\_\+strength\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{angular\+\_\+theta\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{distance\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k }\end{DoxyParamCaption})}
+
+
+
+Computes the distances between a mobile station and the reference stations of a magnet-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em magnetic\+\_\+field\+\_\+strength\+\_\+arr\mbox{[}$\,$\mbox{]}} & includes the magnetic field strengths. \\
+\hline
+\mbox{\texttt{ in}}  & {\em angular\+\_\+theta\+\_\+arr\mbox{[}$\,$\mbox{]}} & elevation angles. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em distance\+\_\+arr\mbox{[}$\,$\mbox{]}} & distance array. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & length of the arrays. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 125 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and M\+I\+L\+P\+S\+\_\+\+M\+A\+X\+\_\+\+D\+I\+ST.
+
+\mbox{\Hypertarget{magnetic__based__position_8c_ac852e4c0dcb8e9901aa3fab5efd91599}\label{magnetic__based__position_8c_ac852e4c0dcb8e9901aa3fab5efd91599}} 
+\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}!magnetic\_based\_get\_distances\_to\_anchors@{magnetic\_based\_get\_distances\_to\_anchors}}
+\index{magnetic\_based\_get\_distances\_to\_anchors@{magnetic\_based\_get\_distances\_to\_anchors}!magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_distances\_to\_anchors()}{magnetic\_based\_get\_distances\_to\_anchors()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the distance between a mobile station and a reference station of magnetic-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 50 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, vector\+\_\+get\+\_\+norm2(), and vector\+\_\+sub().
+
+\mbox{\Hypertarget{magnetic__based__position_8c_a361f3f3c4f9516a1aa6107367ebfda8d}\label{magnetic__based__position_8c_a361f3f3c4f9516a1aa6107367ebfda8d}} 
+\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}!magnetic\_based\_get\_magnetic\_field@{magnetic\_based\_get\_magnetic\_field}}
+\index{magnetic\_based\_get\_magnetic\_field@{magnetic\_based\_get\_magnetic\_field}!magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_magnetic\_field()}{magnetic\_based\_get\_magnetic\_field()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{target\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k }\end{DoxyParamCaption})}
+
+
+
+Computes the magnetic field strength from a mobile station to a reference station. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a reference station. \\
+\hline
+\mbox{\texttt{ in}}  & {\em target\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the magnetic field strength. 
+\end{DoxyReturn}
+
+
+Definition at line 62 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and vector\+\_\+flex\+\_\+print().
+
+\mbox{\Hypertarget{magnetic__based__position_8c_aac026f28838a5b30c8f6f189e3ab354c}\label{magnetic__based__position_8c_aac026f28838a5b30c8f6f189e3ab354c}} 
+\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}!magnetic\_based\_get\_magnetic\_field\_vec@{magnetic\_based\_get\_magnetic\_field\_vec}}
+\index{magnetic\_based\_get\_magnetic\_field\_vec@{magnetic\_based\_get\_magnetic\_field\_vec}!magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_magnetic\_field\_vec()}{magnetic\_based\_get\_magnetic\_field\_vec()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{target\+\_\+point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{magn\+\_\+field\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the magnetic field strengths from a mobile station to various reference stations. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em target\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em magn\+\_\+field\+\_\+vec\mbox{[}$\,$\mbox{]}} & includes the magnetic field strengths. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 91 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{magnetic__based__position_8c_a01bb024303e8eb202a19dbd70b291c06}\label{magnetic__based__position_8c_a01bb024303e8eb202a19dbd70b291c06}} 
+\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}!magnetic\_based\_get\_r@{magnetic\_based\_get\_r}}
+\index{magnetic\_based\_get\_r@{magnetic\_based\_get\_r}!magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_r()}{magnetic\_based\_get\_r()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+based\+\_\+get\+\_\+r (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{B,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{theta,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k }\end{DoxyParamCaption})}
+
+
+
+Computes the distance between a mobile station and a reference stations of a magnet-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em B} & magnetic field strength. \\
+\hline
+\mbox{\texttt{ in}}  & {\em theta} & elevation angle. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 166 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and M\+I\+L\+P\+S\+\_\+\+M\+A\+X\+\_\+\+D\+I\+ST.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+test().
+
+\mbox{\Hypertarget{magnetic__based__position_8c_af316f67cb87759b57bc815326b8d1cef}\label{magnetic__based__position_8c_af316f67cb87759b57bc815326b8d1cef}} 
+\index{magnetic\_based\_position.c@{magnetic\_based\_position.c}!magnetic\_based\_preprocessing\_get\_position@{magnetic\_based\_preprocessing\_get\_position}}
+\index{magnetic\_based\_preprocessing\_get\_position@{magnetic\_based\_preprocessing\_get\_position}!magnetic\_based\_position.c@{magnetic\_based\_position.c}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_preprocessing\_get\_position()}{magnetic\_based\_preprocessing\_get\_position()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+preprocessing\+\_\+get\+\_\+position (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the position of a mobile station by a magnetic-\/based localization system. 
+
+The position is computed based on a pre-\/processed pseudo-\/inverse matrix and the homogeneous solution in the case of three reference stations.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the homogeneous solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & includes the first solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & includes the second solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 188 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and trilateration1().
+
diff --git a/doc/doxygen/latex/magnetic__based__position_8h.tex b/doc/doxygen/latex/magnetic__based__position_8h.tex
new file mode 100644
index 0000000..443c828
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__position_8h.tex
@@ -0,0 +1,289 @@
+\hypertarget{magnetic__based__position_8h}{}\doxysection{magnetic\+\_\+based\+\_\+position.\+h File Reference}
+\label{magnetic__based__position_8h}\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+
+
+Functions of of D\+C-\/pulsed, magnetic localization system.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a73d113d91ab7ec355ca707cc930eb718}\label{magnetic__based__position_8h_a73d113d91ab7ec355ca707cc930eb718}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a73d113d91ab7ec355ca707cc930eb718}{I0}}~15
+\begin{DoxyCompactList}\small\item\em The current running through the coil. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_af9cccf331f045b89a9f12366df5f7687}\label{magnetic__based__position_8h_af9cccf331f045b89a9f12366df5f7687}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_af9cccf331f045b89a9f12366df5f7687}{NW}}~140
+\begin{DoxyCompactList}\small\item\em The number of turns of the wire. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a30ab9da60435727bc80839d416461b8f}\label{magnetic__based__position_8h_a30ab9da60435727bc80839d416461b8f}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a30ab9da60435727bc80839d416461b8f}{R0}}~0.\+25
+\begin{DoxyCompactList}\small\item\em The radius of the coil. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a598a3330b3c21701223ee0ca14316eca}\label{magnetic__based__position_8h_a598a3330b3c21701223ee0ca14316eca}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a598a3330b3c21701223ee0ca14316eca}{PI}}~3.\+14159265358979323846
+\begin{DoxyCompactList}\small\item\em The pi constant. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a6f98ae7b0908254a0dfd1627e652bebe}\label{magnetic__based__position_8h_a6f98ae7b0908254a0dfd1627e652bebe}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a6f98ae7b0908254a0dfd1627e652bebe}{AR}}~\mbox{\hyperlink{magnetic__based__position_8h_a598a3330b3c21701223ee0ca14316eca}{PI}} $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_a30ab9da60435727bc80839d416461b8f}{R0}} $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_a30ab9da60435727bc80839d416461b8f}{R0}}
+\begin{DoxyCompactList}\small\item\em The base area of the coil. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a0fa11f33bdb89b468b60f19395381cc4}\label{magnetic__based__position_8h_a0fa11f33bdb89b468b60f19395381cc4}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a0fa11f33bdb89b468b60f19395381cc4}{M\+U0}}~4 $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_a598a3330b3c21701223ee0ca14316eca}{PI}} $\ast$ 1E-\/7
+\begin{DoxyCompactList}\small\item\em The permeability of free space,. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a97d832ae23af4f215e801e37e4f94254}\label{magnetic__based__position_8h_a97d832ae23af4f215e801e37e4f94254}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a97d832ae23af4f215e801e37e4f94254}{K}}~\mbox{\hyperlink{magnetic__based__position_8h_a0fa11f33bdb89b468b60f19395381cc4}{M\+U0}} $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_af9cccf331f045b89a9f12366df5f7687}{NW}} $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_a73d113d91ab7ec355ca707cc930eb718}{I0}} $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_a6f98ae7b0908254a0dfd1627e652bebe}{AR}} / (4 $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_a598a3330b3c21701223ee0ca14316eca}{PI}})
+\begin{DoxyCompactList}\small\item\em The K constant. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a544d6868e9b6cf4f9b9db9e1ad413691}\label{magnetic__based__position_8h_a544d6868e9b6cf4f9b9db9e1ad413691}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a544d6868e9b6cf4f9b9db9e1ad413691}{M\+G\+\_\+\+T\+O\+\_\+T}}~1E7
+\begin{DoxyCompactList}\small\item\em From Mega Gauss to Tesla. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a3ee4ec231172a5fd866f72acead15bc4}\label{magnetic__based__position_8h_a3ee4ec231172a5fd866f72acead15bc4}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a3ee4ec231172a5fd866f72acead15bc4}{K\+\_\+T}}~\mbox{\hyperlink{magnetic__based__position_8h_a97d832ae23af4f215e801e37e4f94254}{K}} $\ast$ \mbox{\hyperlink{magnetic__based__position_8h_a544d6868e9b6cf4f9b9db9e1ad413691}{M\+G\+\_\+\+T\+O\+\_\+T}}
+\begin{DoxyCompactList}\small\item\em The number of turns of the wire. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{magnetic__based__position_8h_a2ab193fcd7e0bc8f46ce92c3299b99bc}\label{magnetic__based__position_8h_a2ab193fcd7e0bc8f46ce92c3299b99bc}} 
+\#define \mbox{\hyperlink{magnetic__based__position_8h_a2ab193fcd7e0bc8f46ce92c3299b99bc}{M\+I\+L\+P\+S\+\_\+\+M\+A\+X\+\_\+\+D\+I\+ST}}~25
+\begin{DoxyCompactList}\small\item\em The number of turns of the wire. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{magnetic__based__position_8h_ad5a7513337486e277ea028480403569d}{magnetic\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Computes the absolute error of a position of magnet-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__position_8h_ae584dff239a0111c47b7c5d1e197af59}{magnetic\+\_\+based\+\_\+get\+\_\+distances}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+field\+\_\+strength\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} angular\+\_\+theta\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} distance\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k)
+\begin{DoxyCompactList}\small\item\em Computes the distances between a mobile station and the reference stations of a magnet-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{magnetic__based__position_8h_a01bb024303e8eb202a19dbd70b291c06}{magnetic\+\_\+based\+\_\+get\+\_\+r}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} B, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} theta, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k)
+\begin{DoxyCompactList}\small\item\em Computes the distance between a mobile station and a reference stations of a magnet-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{magnetic__based__position_8h_ac852e4c0dcb8e9901aa3fab5efd91599}{magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} point\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the distance between a mobile station and a reference station of magnetic-\/based localization system. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{magnetic__based__position_8h_a361f3f3c4f9516a1aa6107367ebfda8d}{magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} target\+\_\+point\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k)
+\begin{DoxyCompactList}\small\item\em Computes the magnetic field strength from a mobile station to a reference station. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__position_8h_aac026f28838a5b30c8f6f189e3ab354c}{magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field\+\_\+vec}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} target\+\_\+point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} k, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magn\+\_\+field\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the magnetic field strengths from a mobile station to various reference stations. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{magnetic__based__position_8h_af316f67cb87759b57bc815326b8d1cef}{magnetic\+\_\+based\+\_\+preprocessing\+\_\+get\+\_\+position}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the position of a mobile station by a magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Functions of of D\+C-\/pulsed, magnetic localization system. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{magnetic__based__position_8h_ad5a7513337486e277ea028480403569d}\label{magnetic__based__position_8h_ad5a7513337486e277ea028480403569d}} 
+\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}!magnetic\_based\_get\_absolute\_error@{magnetic\_based\_get\_absolute\_error}}
+\index{magnetic\_based\_get\_absolute\_error@{magnetic\_based\_get\_absolute\_error}!magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_absolute\_error()}{magnetic\_based\_get\_absolute\_error()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+get\+\_\+absolute\+\_\+error (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{approx\+\_\+value\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{absolute\+\_\+error\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Computes the absolute error of a position of magnet-\/based localization system. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em value\+\_\+arr} & true position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em approx\+\_\+value\+\_\+arr} & approximate position of the mobile device. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em absolute\+\_\+error\+\_\+arr} & includes the absolute error. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & arrays length. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 34 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+\mbox{\Hypertarget{magnetic__based__position_8h_ae584dff239a0111c47b7c5d1e197af59}\label{magnetic__based__position_8h_ae584dff239a0111c47b7c5d1e197af59}} 
+\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}!magnetic\_based\_get\_distances@{magnetic\_based\_get\_distances}}
+\index{magnetic\_based\_get\_distances@{magnetic\_based\_get\_distances}!magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_distances()}{magnetic\_based\_get\_distances()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+get\+\_\+distances (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{magnetic\+\_\+field\+\_\+strength\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{angular\+\_\+theta\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{distance\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k }\end{DoxyParamCaption})}
+
+
+
+Computes the distances between a mobile station and the reference stations of a magnet-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em magnetic\+\_\+field\+\_\+strength\+\_\+arr\mbox{[}$\,$\mbox{]}} & includes the magnetic field strengths. \\
+\hline
+\mbox{\texttt{ in}}  & {\em angular\+\_\+theta\+\_\+arr\mbox{[}$\,$\mbox{]}} & elevation angles. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em distance\+\_\+arr\mbox{[}$\,$\mbox{]}} & distance array. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & length of the arrays. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 125 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and M\+I\+L\+P\+S\+\_\+\+M\+A\+X\+\_\+\+D\+I\+ST.
+
+\mbox{\Hypertarget{magnetic__based__position_8h_ac852e4c0dcb8e9901aa3fab5efd91599}\label{magnetic__based__position_8h_ac852e4c0dcb8e9901aa3fab5efd91599}} 
+\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}!magnetic\_based\_get\_distances\_to\_anchors@{magnetic\_based\_get\_distances\_to\_anchors}}
+\index{magnetic\_based\_get\_distances\_to\_anchors@{magnetic\_based\_get\_distances\_to\_anchors}!magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_distances\_to\_anchors()}{magnetic\_based\_get\_distances\_to\_anchors()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{point\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the distance between a mobile station and a reference station of magnetic-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 50 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, vector\+\_\+get\+\_\+norm2(), and vector\+\_\+sub().
+
+\mbox{\Hypertarget{magnetic__based__position_8h_a361f3f3c4f9516a1aa6107367ebfda8d}\label{magnetic__based__position_8h_a361f3f3c4f9516a1aa6107367ebfda8d}} 
+\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}!magnetic\_based\_get\_magnetic\_field@{magnetic\_based\_get\_magnetic\_field}}
+\index{magnetic\_based\_get\_magnetic\_field@{magnetic\_based\_get\_magnetic\_field}!magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_magnetic\_field()}{magnetic\_based\_get\_magnetic\_field()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{target\+\_\+point\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k }\end{DoxyParamCaption})}
+
+
+
+Computes the magnetic field strength from a mobile station to a reference station. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a reference station. \\
+\hline
+\mbox{\texttt{ in}}  & {\em target\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the magnetic field strength. 
+\end{DoxyReturn}
+
+
+Definition at line 62 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and vector\+\_\+flex\+\_\+print().
+
+\mbox{\Hypertarget{magnetic__based__position_8h_aac026f28838a5b30c8f6f189e3ab354c}\label{magnetic__based__position_8h_aac026f28838a5b30c8f6f189e3ab354c}} 
+\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}!magnetic\_based\_get\_magnetic\_field\_vec@{magnetic\_based\_get\_magnetic\_field\_vec}}
+\index{magnetic\_based\_get\_magnetic\_field\_vec@{magnetic\_based\_get\_magnetic\_field\_vec}!magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_magnetic\_field\_vec()}{magnetic\_based\_get\_magnetic\_field\_vec()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{target\+\_\+point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{magn\+\_\+field\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the magnetic field strengths from a mobile station to various reference stations. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em target\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the mobile device. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em magn\+\_\+field\+\_\+vec\mbox{[}$\,$\mbox{]}} & includes the magnetic field strengths. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 91 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{magnetic__based__position_8h_a01bb024303e8eb202a19dbd70b291c06}\label{magnetic__based__position_8h_a01bb024303e8eb202a19dbd70b291c06}} 
+\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}!magnetic\_based\_get\_r@{magnetic\_based\_get\_r}}
+\index{magnetic\_based\_get\_r@{magnetic\_based\_get\_r}!magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_get\_r()}{magnetic\_based\_get\_r()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} magnetic\+\_\+based\+\_\+get\+\_\+r (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{B,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{theta,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{k }\end{DoxyParamCaption})}
+
+
+
+Computes the distance between a mobile station and a reference stations of a magnet-\/based localization system. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em B} & magnetic field strength. \\
+\hline
+\mbox{\texttt{ in}}  & {\em theta} & elevation angle. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & magnetic constant.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 166 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and M\+I\+L\+P\+S\+\_\+\+M\+A\+X\+\_\+\+D\+I\+ST.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+test().
+
+\mbox{\Hypertarget{magnetic__based__position_8h_af316f67cb87759b57bc815326b8d1cef}\label{magnetic__based__position_8h_af316f67cb87759b57bc815326b8d1cef}} 
+\index{magnetic\_based\_position.h@{magnetic\_based\_position.h}!magnetic\_based\_preprocessing\_get\_position@{magnetic\_based\_preprocessing\_get\_position}}
+\index{magnetic\_based\_preprocessing\_get\_position@{magnetic\_based\_preprocessing\_get\_position}!magnetic\_based\_position.h@{magnetic\_based\_position.h}}
+\doxysubsubsection{\texorpdfstring{magnetic\_based\_preprocessing\_get\_position()}{magnetic\_based\_preprocessing\_get\_position()}}
+{\footnotesize\ttfamily void magnetic\+\_\+based\+\_\+preprocessing\+\_\+get\+\_\+position (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the position of a mobile station by a magnetic-\/based localization system. 
+
+The position is computed based on a pre-\/processed pseudo-\/inverse matrix and the homogeneous solution in the case of three reference stations.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the homogeneous solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & includes the first solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & includes the second solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 188 of file magnetic\+\_\+based\+\_\+position.\+c.
+
+
+
+References matrix\+\_\+t, and trilateration1().
+
diff --git a/doc/doxygen/latex/magnetic__based__test_8c.tex b/doc/doxygen/latex/magnetic__based__test_8c.tex
new file mode 100644
index 0000000..38af40f
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__test_8c.tex
@@ -0,0 +1,31 @@
+\hypertarget{magnetic__based__test_8c}{}\doxysection{magnetic\+\_\+based\+\_\+test.\+c File Reference}
+\label{magnetic__based__test_8c}\index{magnetic\_based\_test.c@{magnetic\_based\_test.c}}
+
+
+Examples of localization algorithms of magnetic-\/based positioning systems.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}trilateration.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}magnetic\+\_\+based\+\_\+position.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{magnetic__based__test_8c_a94f4b9ae7750825fc3d332e8f1903f75}\label{magnetic__based__test_8c_a94f4b9ae7750825fc3d332e8f1903f75}} 
+void \mbox{\hyperlink{magnetic__based__test_8c_a94f4b9ae7750825fc3d332e8f1903f75}{magnetic\+\_\+based\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of a magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of localization algorithms of magnetic-\/based positioning systems. 
+
+Localization algorithms examples using artificially generated D\+C-\/pulsed, magnetic signals (see the \mbox{\hyperlink{magnetic__based__position_8h}{methods of magnetic-\/based}} localization systems).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/magnetic__based__test_8h.tex b/doc/doxygen/latex/magnetic__based__test_8h.tex
new file mode 100644
index 0000000..a1910b8
--- /dev/null
+++ b/doc/doxygen/latex/magnetic__based__test_8h.tex
@@ -0,0 +1,25 @@
+\hypertarget{magnetic__based__test_8h}{}\doxysection{magnetic\+\_\+based\+\_\+test.\+h File Reference}
+\label{magnetic__based__test_8h}\index{magnetic\_based\_test.h@{magnetic\_based\_test.h}}
+
+
+Examples of localization algorithms of magnetic-\/based positioning systems.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{magnetic__based__test_8h_a94f4b9ae7750825fc3d332e8f1903f75}\label{magnetic__based__test_8h_a94f4b9ae7750825fc3d332e8f1903f75}} 
+void \mbox{\hyperlink{magnetic__based__test_8h_a94f4b9ae7750825fc3d332e8f1903f75}{magnetic\+\_\+based\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of a magnetic-\/based localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of localization algorithms of magnetic-\/based positioning systems. 
+
+Localization algorithms examples using artificially generated D\+C-\/pulsed, magnetic signals (see the \mbox{\hyperlink{magnetic__based__position_8h}{methods of magnetic-\/based}} localization systems).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/make.bat b/doc/doxygen/latex/make.bat
new file mode 100644
index 0000000..55e79ba
--- /dev/null
+++ b/doc/doxygen/latex/make.bat
@@ -0,0 +1,31 @@
+set Dir_Old=%cd%
+cd /D %~dp0
+
+del /s /f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl refman.pdf
+
+set LATEX_CMD=pdflatex
+%LATEX_CMD% refman
+echo ----
+makeindex refman.idx
+echo ----
+%LATEX_CMD% refman
+
+setlocal enabledelayedexpansion
+set count=8
+:repeat
+set content=X
+for /F "tokens=*" %%T in ( 'findstr /C:"Rerun LaTeX" refman.log' ) do set content="%%~T"
+if !content! == X for /F "tokens=*" %%T in ( 'findstr /C:"Rerun to get cross-references right" refman.log' ) do set content="%%~T"
+if !content! == X goto :skip
+set /a count-=1
+if !count! EQU 0 goto :skip
+
+echo ----
+%LATEX_CMD% refman
+goto :repeat
+:skip
+endlocal
+makeindex refman.idx
+%LATEX_CMD% refman
+cd /D %Dir_Old%
+set Dir_Old=
diff --git a/doc/doxygen/latex/matrix_8c.tex b/doc/doxygen/latex/matrix_8c.tex
new file mode 100644
index 0000000..3ba7300
--- /dev/null
+++ b/doc/doxygen/latex/matrix_8c.tex
@@ -0,0 +1,1600 @@
+\hypertarget{matrix_8c}{}\doxysection{matrix.\+c File Reference}
+\label{matrix_8c}\index{matrix.c@{matrix.c}}
+
+
+Matrix computations.  
+
+
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}svd.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{matrix_8c_a0e06b2cfb86340e88be7b1219bef0ce3}{matrix\+\_\+clear}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Clear all the elements of the vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_acfd2bbc4a90915e57a4555694e842312}{matrix\+\_\+init}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value)
+\begin{DoxyCompactList}\small\item\em Initialize all the elements of the matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ad7c9a682a3cc4ca33c030afa8798241a}{matrix\+\_\+transpose}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}n\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the transpose of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a48b36217faeda15438f4e07c54d0ef9e}{matrix\+\_\+in\+\_\+place\+\_\+transpose}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the in-\/place transpose of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ae8d8daa117e9f96a5e29fe6c76c4998c}{matrix\+\_\+copy}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Copy the elements of a matrix to another matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a56513a88eff05b0683320c532fadf945}{matrix\+\_\+part\+\_\+copy}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t start\+\_\+row\+\_\+ind, uint8\+\_\+t end\+\_\+row\+\_\+ind, uint8\+\_\+t start\+\_\+col\+\_\+ind, uint8\+\_\+t end\+\_\+col\+\_\+ind, uint8\+\_\+t dest\+\_\+row\+\_\+num, uint8\+\_\+t dest\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Copy a part of a matrix to another matrix or sub-\/matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a32ab12965ec43c2acf65cf9dd510353a}{matrix\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Display the values of the matrix elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a72073ccd483f9cc438425d3d8ffd3029}{matrix\+\_\+part\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t start\+\_\+row\+\_\+ind, uint8\+\_\+t end\+\_\+row\+\_\+ind, uint8\+\_\+t start\+\_\+col\+\_\+ind, uint8\+\_\+t end\+\_\+col\+\_\+ind)
+\begin{DoxyCompactList}\small\item\em Display the values of the sub-\/matrix elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ad386233d68c73656a03641ddf3ecaaf2}{matrix\+\_\+flex\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t before\+\_\+dot, uint8\+\_\+t after\+\_\+dot)
+\begin{DoxyCompactList}\small\item\em Display the values of the matrix elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a72297a60e572f85929989e813388a9c5}{matrix\+\_\+flex\+\_\+part\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t start\+\_\+row\+\_\+ind, uint8\+\_\+t end\+\_\+row\+\_\+ind, uint8\+\_\+t start\+\_\+col\+\_\+ind, uint8\+\_\+t end\+\_\+col\+\_\+ind, uint8\+\_\+t before\+\_\+dot, uint8\+\_\+t after\+\_\+dot)
+\begin{DoxyCompactList}\small\item\em Display the values of the sub-\/matrix elements. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{matrix_8c_a53879e7c4cfbc96725aef9f8234be7dd}{matrix\+\_\+get\+\_\+rank}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Compute the rank of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_aed6fab1ffa40243eeb08117215082be3}{matrix\+\_\+sub}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+\_\+minus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the subtraction of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ac7101bbaa3a2698658276a7e21501093}{matrix\+\_\+add}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+\_\+plus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the addition of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_aa8acafd4181978f536976f8151e51516}{matrix\+\_\+add\+\_\+to\+\_\+diag}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t diag\+\_\+el\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value)
+\begin{DoxyCompactList}\small\item\em Add a number to diagonal elements of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a550aa0d5a3212e35ad0af134895fd20a}{matrix\+\_\+mul}} (uint8\+\_\+t a\+\_\+line\+\_\+num, uint8\+\_\+t a\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} a\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\mbox{]}, uint8\+\_\+t b\+\_\+line\+\_\+num, uint8\+\_\+t b\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+matrix\mbox{[}b\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a3763252ca00e4c8522ae1bfd5ef40f0a}{matrix\+\_\+part\+\_\+mul}} (uint8\+\_\+t a\+\_\+col\+\_\+num\+\_\+max, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\+\_\+max\mbox{]}, uint8\+\_\+t b\+\_\+col\+\_\+num\+\_\+max, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\+\_\+max\mbox{]}, uint8\+\_\+t a\+\_\+start\+\_\+row\+\_\+ind, uint8\+\_\+t a\+\_\+end\+\_\+row\+\_\+ind, uint8\+\_\+t a\+\_\+start\+\_\+col\+\_\+ind, uint8\+\_\+t a\+\_\+end\+\_\+col\+\_\+ind, uint8\+\_\+t b\+\_\+start\+\_\+row\+\_\+ind, uint8\+\_\+t b\+\_\+end\+\_\+row\+\_\+ind, uint8\+\_\+t b\+\_\+start\+\_\+col\+\_\+ind, uint8\+\_\+t b\+\_\+end\+\_\+col\+\_\+ind, uint8\+\_\+t dest\+\_\+col\+\_\+size, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+size\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the partial multiplication of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ad610bcce232c69ca302550f57b1ad9fb}{matrix\+\_\+mul\+\_\+vec}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a matrix with a column vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a3cf18a2c5c6ad62a4e0a0c00d27e2887}{matrix\+\_\+vec\+\_\+mul\+\_\+matr}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of row vector and a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ac735d13efe5b76ecf60ac13ec79da8e3}{matrix\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} scalar, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a scalar with row vector and a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a06f75ae4924e3f0dfd0b6a25313dc731}{matrix\+\_\+part\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} scalar, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}max\+\_\+m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t begin\+\_\+row, uint8\+\_\+t begin\+\_\+column, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}max\+\_\+n -\/ begin\+\_\+row\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a scalar with row vector and a sub-\/matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a53b0a1829b2085414fb66a9e9bd6c7b7}{matrix\+\_\+trans\+\_\+mul\+\_\+vec}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t b\+\_\+size, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+vec\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} c\+\_\+vec\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of transposed matrix with column vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_acfd7c6f021f4fbcd393fe849c82f34de}{matrix\+\_\+mul\+\_\+col\+\_\+vec\+\_\+row\+\_\+vec}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} col\+\_\+vec\mbox{[}m\mbox{]}, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} row\+\_\+vec\mbox{[}n\mbox{]}, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} res\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}max\+\_\+n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a column and row vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a0107887a6c40980fa639750be8262f01}{matrix\+\_\+trans\+\_\+mul\+\_\+itself}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+T\+\_\+mul\+\_\+A\mbox{[}n\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of the transpose of a matrix with itself. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a49aa70a7d6ad76388ea08acfe43b7374}{matrix\+\_\+set\+\_\+diag\+\_\+elements}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Set all the diagonal elements of a matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ae808f007791f060590d39c7668501988}{matrix\+\_\+get\+\_\+diag\+\_\+mat\+\_\+new}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Set all the diagonal elements of a matrix with values that are saved in a vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a18e47742f1653dcc4491badfe2537a0a}{matrix\+\_\+get\+\_\+diag\+\_\+mat}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Create a diagonal matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a51139e6c87b602e5e0ebfbc406fda35d}{matrix\+\_\+mul\+\_\+scalar}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mat\+\_\+src\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mat\+\_\+dest\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Multiply all elements of a matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a3ae0b9f73f82716f3427a523a3412864}{matrix\+\_\+get\+\_\+column\+\_\+vec}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} col\+\_\+vec\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get a column of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ac20399f6a8de13b1f392a1e3f7c0fbf4}{matrix\+\_\+get\+\_\+part\+\_\+column\+\_\+vec}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t col\+\_\+num, uint8\+\_\+t offset, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} col\+\_\+vec\mbox{[}max\+\_\+m -\/ offset\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get a part of a column of a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8c_aef8d1508ad101227ab255a714ab22b94}{matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+column}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the largest element of a column vector in a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8c_a0a3d3cfa20ad3e75ad783af457343672}{matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+column}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the maximum absolute value of a column vector in a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8c_ad2cecc467ac6480ef0f3423f962b39bc}{matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t row\+\_\+num, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the largest element of a column vector in a sub-\/matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8c_a8d77cfae4f1da83acac929c1ce13d252}{matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t row\+\_\+num, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the maximum absolute value of a column vector in a sub-\/matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8c_a5f6a1948ec005cff4985559821c4943f}{matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+and\+\_\+index\+\_\+in\+\_\+part\+\_\+column}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t row\+\_\+num, uint8\+\_\+t col\+\_\+num, uint8\+\_\+t $\ast$index)
+\begin{DoxyCompactList}\small\item\em Get the maximum absolute value and its position in a column vector in a sub-\/matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a875d6c55a16ee9f8bf523b8c1c82bc6f}{matrix\+\_\+swap\+\_\+rows}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j)
+\begin{DoxyCompactList}\small\item\em Swaps two rows of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a3570c016691507c003dd7a54cb37e7e2}{matrix\+\_\+part\+\_\+swap\+\_\+rows}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j, uint8\+\_\+t col\+\_\+begin, uint8\+\_\+t col\+\_\+end)
+\begin{DoxyCompactList}\small\item\em Swaps two rows of a sub-\/matrix. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{matrix_8c_aec03481d950677386122e3c8ba6a5cd0}{matrix\+\_\+get\+\_\+two\+\_\+norm}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get the 2-\/norm of a matrix that is equal to the largest singular value. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{matrix_8c_aaf85a32b8562c91d2d1889819580375e}{matrix\+\_\+get\+\_\+frob\+\_\+norm}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get the Frobenius norm of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ab166871472924745f70e2bb6e17498c8}{matrix\+\_\+get\+\_\+inv\+\_\+upp\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} inv\+\_\+U\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the inverse an upper triangular matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_ae8e87640fa1a2d259ee4dc98c955cb48}{matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} inv\+\_\+L\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the inverse a lower triangular matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_abbaf8f39b2b7bb4bd2987f99674c1213}{matrix\+\_\+get\+\_\+upp\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tr\+\_\+up\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Gets the upper triangular part of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_adfd93dda9be9b2e8df5805af7fee7845}{matrix\+\_\+get\+\_\+low\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tr\+\_\+low\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Gets the lower triangular part of a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8c_a722a0230185fd66f0cecbeae7d50ce1a}{matrix\+\_\+read}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j)
+\begin{DoxyCompactList}\small\item\em Get the value of a matrix at the position (i,j). \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8c_a90b6eafa665d34d7330581c32564d632}{matrix\+\_\+write}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} val)
+\begin{DoxyCompactList}\small\item\em Write a value in a matrix at the position (i,j). \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Matrix computations. 
+
+Matrix computations include operations such as addition, subtraction, and transposition.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{matrix_8c_ac7101bbaa3a2698658276a7e21501093}\label{matrix_8c_ac7101bbaa3a2698658276a7e21501093}} 
+\index{matrix.c@{matrix.c}!matrix\_add@{matrix\_add}}
+\index{matrix\_add@{matrix\_add}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_add()}{matrix\_add()}}
+{\footnotesize\ttfamily void matrix\+\_\+add (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+\_\+plus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the addition of two matrices. 
+
+Add matrix B to matrix A and return the result in A\+\_\+plus\+\_\+B matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em A\+\_\+plus\+\_\+\+B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 341 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_aa8acafd4181978f536976f8151e51516}\label{matrix_8c_aa8acafd4181978f536976f8151e51516}} 
+\index{matrix.c@{matrix.c}!matrix\_add\_to\_diag@{matrix\_add\_to\_diag}}
+\index{matrix\_add\_to\_diag@{matrix\_add\_to\_diag}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_add\_to\_diag()}{matrix\_add\_to\_diag()}}
+{\footnotesize\ttfamily void matrix\+\_\+add\+\_\+to\+\_\+diag (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{diag\+\_\+el\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value }\end{DoxyParamCaption})}
+
+
+
+Add a number to diagonal elements of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em diag\+\_\+el\+\_\+num} & number of diagonal elements to overwrite. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & the value to add to the diagonal elements. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 353 of file matrix.\+c.
+
+
+
+Referenced by opt\+\_\+levenberg\+\_\+marquardt(), and opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{matrix_8c_a0e06b2cfb86340e88be7b1219bef0ce3}\label{matrix_8c_a0e06b2cfb86340e88be7b1219bef0ce3}} 
+\index{matrix.c@{matrix.c}!matrix\_clear@{matrix\_clear}}
+\index{matrix\_clear@{matrix\_clear}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_clear()}{matrix\_clear()}}
+{\footnotesize\ttfamily void matrix\+\_\+clear (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Clear all the elements of the vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 46 of file matrix.\+c.
+
+
+
+Referenced by dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J(), householder\+\_\+test(), matrix\+\_\+get\+\_\+diag\+\_\+mat(), matrix\+\_\+get\+\_\+diag\+\_\+mat\+\_\+new(), matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang(), matrix\+\_\+get\+\_\+inv\+\_\+upp\+\_\+triang(), and qr\+\_\+givens\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8c_ae8d8daa117e9f96a5e29fe6c76c4998c}\label{matrix_8c_ae8d8daa117e9f96a5e29fe6c76c4998c}} 
+\index{matrix.c@{matrix.c}!matrix\_copy@{matrix\_copy}}
+\index{matrix\_copy@{matrix\_copy}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_copy()}{matrix\_copy()}}
+{\footnotesize\ttfamily void matrix\+\_\+copy (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Copy the elements of a matrix to another matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to copy. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to copy. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the source matrix \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 83 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by givens\+\_\+test(), householder\+\_\+test(), matrix\+\_\+get\+\_\+two\+\_\+norm(), solve\+\_\+big\+\_\+matrix\+\_\+test(), solve\+\_\+test(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_a72297a60e572f85929989e813388a9c5}\label{matrix_8c_a72297a60e572f85929989e813388a9c5}} 
+\index{matrix.c@{matrix.c}!matrix\_flex\_part\_print@{matrix\_flex\_part\_print}}
+\index{matrix\_flex\_part\_print@{matrix\_flex\_part\_print}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_flex\_part\_print()}{matrix\_flex\_part\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+flex\+\_\+part\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{before\+\_\+dot,  }\item[{uint8\+\_\+t}]{after\+\_\+dot }\end{DoxyParamCaption})}
+
+
+
+Display the values of the sub-\/matrix elements. 
+
+This function allows the user to determine the precision as well as the with of the numbers to display.
+
+\begin{DoxyNote}{Note}
+This function is more memory-\/consuming than \mbox{\hyperlink{matrix_8c_a72073ccd483f9cc438425d3d8ffd3029}{matrix\+\_\+part\+\_\+print}}.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+row\+\_\+ind} & start row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+row\+\_\+ind} & end row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+col\+\_\+ind} & start column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+col\+\_\+ind} & end column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em before\+\_\+dot} & the number of digits to be printed before the decimal point. \\
+\hline
+\mbox{\texttt{ in}}  & {\em after\+\_\+dot} & the number of digits to be printed after the decimal point. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 247 of file matrix.\+c.
+
+
+
+References utils\+\_\+printf().
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_ad386233d68c73656a03641ddf3ecaaf2}\label{matrix_8c_ad386233d68c73656a03641ddf3ecaaf2}} 
+\index{matrix.c@{matrix.c}!matrix\_flex\_print@{matrix\_flex\_print}}
+\index{matrix\_flex\_print@{matrix\_flex\_print}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_flex\_print()}{matrix\_flex\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+flex\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{before\+\_\+dec,  }\item[{uint8\+\_\+t}]{after\+\_\+dec }\end{DoxyParamCaption})}
+
+
+
+Display the values of the matrix elements. 
+
+This function allows the user to determine the precision as well as the with of the numbers to display.
+
+\begin{DoxyNote}{Note}
+This function is more memory-\/consuming than \mbox{\hyperlink{matrix_8c_a32ab12965ec43c2acf65cf9dd510353a}{matrix\+\_\+print}}.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em before\+\_\+dec} & the number of digits to be printed before the decimal point. \\
+\hline
+\mbox{\texttt{ in}}  & {\em after\+\_\+dec} & the number of digits to be printed after the decimal point. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 220 of file matrix.\+c.
+
+
+
+References utils\+\_\+printf().
+
+
+
+Referenced by givens\+\_\+test(), householder\+\_\+test(), inv\+\_\+triangular\+\_\+matrices\+\_\+test(), lu\+\_\+decomp\+\_\+test(), matrix\+\_\+test(), moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print(), optimization\+\_\+test(), pos\+\_\+algos\+\_\+common\+\_\+test(), solve\+\_\+big\+\_\+matrix\+\_\+test(), solve\+\_\+test(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_a5f6a1948ec005cff4985559821c4943f}\label{matrix_8c_a5f6a1948ec005cff4985559821c4943f}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column}}
+\index{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column()}{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+and\+\_\+index\+\_\+in\+\_\+part\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{row\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{uint8\+\_\+t $\ast$}]{index }\end{DoxyParamCaption})}
+
+
+
+Get the maximum absolute value and its position in a column vector in a sub-\/matrix. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+num} & row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em index} & pointer to the variable holding the position of the maximum absolute value in the column vector of the sub-\/matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximum absolute value of a partial column. 
+\end{DoxyReturn}
+
+
+Definition at line 703 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8c_a0a3d3cfa20ad3e75ad783af457343672}\label{matrix_8c_a0a3d3cfa20ad3e75ad783af457343672}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_abs\_max\_elem\_in\_column@{matrix\_get\_abs\_max\_elem\_in\_column}}
+\index{matrix\_get\_abs\_max\_elem\_in\_column@{matrix\_get\_abs\_max\_elem\_in\_column}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_abs\_max\_elem\_in\_column()}{matrix\_get\_abs\_max\_elem\_in\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the maximum absolute value of a column vector in a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximum absolute value of a column. 
+\end{DoxyReturn}
+
+
+Definition at line 651 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_a8d77cfae4f1da83acac929c1ce13d252}\label{matrix_8c_a8d77cfae4f1da83acac929c1ce13d252}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_abs\_max\_elem\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_in\_part\_column}}
+\index{matrix\_get\_abs\_max\_elem\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_in\_part\_column}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_abs\_max\_elem\_in\_part\_column()}{matrix\_get\_abs\_max\_elem\_in\_part\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{row\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the maximum absolute value of a column vector in a sub-\/matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+num} & row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the sub-\/matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximum absolute value of a partial column. 
+\end{DoxyReturn}
+
+
+Definition at line 685 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_a3ae0b9f73f82716f3427a523a3412864}\label{matrix_8c_a3ae0b9f73f82716f3427a523a3412864}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_column\_vec@{matrix\_get\_column\_vec}}
+\index{matrix\_get\_column\_vec@{matrix\_get\_column\_vec}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_column\_vec()}{matrix\_get\_column\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+column\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{col\+\_\+vec\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get a column of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & number of the requested column. \\
+\hline
+\mbox{\texttt{ out}}  & {\em col\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 612 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+trans\+\_\+mul\+\_\+itself().
+
+\mbox{\Hypertarget{matrix_8c_a18e47742f1653dcc4491badfe2537a0a}\label{matrix_8c_a18e47742f1653dcc4491badfe2537a0a}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_diag\_mat@{matrix\_get\_diag\_mat}}
+\index{matrix\_get\_diag\_mat@{matrix\_get\_diag\_mat}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_diag\_mat()}{matrix\_get\_diag\_mat()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+diag\+\_\+mat (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Create a diagonal matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & value of the diagonal elements. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em diag\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the diagonal matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 594 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear(), and matrix\+\_\+set\+\_\+diag\+\_\+elements().
+
+
+
+Referenced by lu\+\_\+decomp(), and matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_ae808f007791f060590d39c7668501988}\label{matrix_8c_ae808f007791f060590d39c7668501988}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_diag\_mat\_new@{matrix\_get\_diag\_mat\_new}}
+\index{matrix\_get\_diag\_mat\_new@{matrix\_get\_diag\_mat\_new}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_diag\_mat\_new()}{matrix\_get\_diag\_mat\_new()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+diag\+\_\+mat\+\_\+new (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Set all the diagonal elements of a matrix with values that are saved in a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em diag\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec} & pointer to the vector containing diagonal elements. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 581 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear().
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_aaf85a32b8562c91d2d1889819580375e}\label{matrix_8c_aaf85a32b8562c91d2d1889819580375e}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_frob\_norm@{matrix\_get\_frob\_norm}}
+\index{matrix\_get\_frob\_norm@{matrix\_get\_frob\_norm}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_frob\_norm()}{matrix\_get\_frob\_norm()}}
+{\footnotesize\ttfamily double matrix\+\_\+get\+\_\+frob\+\_\+norm (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get the Frobenius norm of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the Frobenius norm a matrix. 
+\end{DoxyReturn}
+
+
+Definition at line 782 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_ae8e87640fa1a2d259ee4dc98c955cb48}\label{matrix_8c_ae8e87640fa1a2d259ee4dc98c955cb48}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_inv\_low\_triang@{matrix\_get\_inv\_low\_triang}}
+\index{matrix\_get\_inv\_low\_triang@{matrix\_get\_inv\_low\_triang}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_inv\_low\_triang()}{matrix\_get\_inv\_low\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{inv\+\_\+L\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the inverse a lower triangular matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em L\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em inv\+\_\+\+L\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the inverse matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 817 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear(), and matrix\+\_\+t.
+
+
+
+Referenced by inv\+\_\+triangular\+\_\+matrices\+\_\+test(), and solve\+\_\+lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8c_ab166871472924745f70e2bb6e17498c8}\label{matrix_8c_ab166871472924745f70e2bb6e17498c8}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_inv\_upp\_triang@{matrix\_get\_inv\_upp\_triang}}
+\index{matrix\_get\_inv\_upp\_triang@{matrix\_get\_inv\_upp\_triang}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_inv\_upp\_triang()}{matrix\_get\_inv\_upp\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+inv\+\_\+upp\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{inv\+\_\+U\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the inverse an upper triangular matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the upper triangular matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em inv\+\_\+\+U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the inverse matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 795 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear(), and matrix\+\_\+t.
+
+
+
+Referenced by inv\+\_\+triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_adfd93dda9be9b2e8df5805af7fee7845}\label{matrix_8c_adfd93dda9be9b2e8df5805af7fee7845}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_low\_triang@{matrix\_get\_low\_triang}}
+\index{matrix\_get\_low\_triang@{matrix\_get\_low\_triang}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_low\_triang()}{matrix\_get\_low\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+low\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tr\+\_\+low\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Gets the lower triangular part of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em tr\+\_\+low\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the lower triangular part of the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 868 of file matrix.\+c.
+
+
+
+Referenced by triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_aef8d1508ad101227ab255a714ab22b94}\label{matrix_8c_aef8d1508ad101227ab255a714ab22b94}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_max\_elem\_in\_column@{matrix\_get\_max\_elem\_in\_column}}
+\index{matrix\_get\_max\_elem\_in\_column@{matrix\_get\_max\_elem\_in\_column}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_max\_elem\_in\_column()}{matrix\_get\_max\_elem\_in\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the largest element of a column vector in a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the largest element of a column. 
+\end{DoxyReturn}
+
+
+Definition at line 635 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_ad2cecc467ac6480ef0f3423f962b39bc}\label{matrix_8c_ad2cecc467ac6480ef0f3423f962b39bc}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_max\_elem\_in\_part\_column@{matrix\_get\_max\_elem\_in\_part\_column}}
+\index{matrix\_get\_max\_elem\_in\_part\_column@{matrix\_get\_max\_elem\_in\_part\_column}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_max\_elem\_in\_part\_column()}{matrix\_get\_max\_elem\_in\_part\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{row\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the largest element of a column vector in a sub-\/matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+num} & row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the sub-\/matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the largest element of a partial column. 
+\end{DoxyReturn}
+
+
+Definition at line 668 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_ac20399f6a8de13b1f392a1e3f7c0fbf4}\label{matrix_8c_ac20399f6a8de13b1f392a1e3f7c0fbf4}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_part\_column\_vec@{matrix\_get\_part\_column\_vec}}
+\index{matrix\_get\_part\_column\_vec@{matrix\_get\_part\_column\_vec}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_part\_column\_vec()}{matrix\_get\_part\_column\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+part\+\_\+column\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{uint8\+\_\+t}]{offset,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{col\+\_\+vec\mbox{[}max\+\_\+m -\/ offset\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get a part of a column of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & number of the requested column. \\
+\hline
+\mbox{\texttt{ in}}  & {\em offset} & points to the start position of the column vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em col\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 623 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8c_a53879e7c4cfbc96725aef9f8234be7dd}\label{matrix_8c_a53879e7c4cfbc96725aef9f8234be7dd}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_rank@{matrix\_get\_rank}}
+\index{matrix\_get\_rank@{matrix\_get\_rank}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_rank()}{matrix\_get\_rank()}}
+{\footnotesize\ttfamily uint8\+\_\+t matrix\+\_\+get\+\_\+rank (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Compute the rank of a matrix. 
+
+The S\+VD must be previously invoked to get the singular values of the matrix.
+
+\begin{DoxyNote}{Note}
+This function should be invoked after the call of the \mbox{\hyperlink{svd_8c_acdccfce5b7732e6334ca5a521c57e63e}{svd}} method.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]}} & array containing the singular values of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & length of the singular values array.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the rank of the matrix. 
+\end{DoxyReturn}
+
+
+Definition at line 312 of file matrix.\+c.
+
+
+
+Referenced by trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{matrix_8c_aec03481d950677386122e3c8ba6a5cd0}\label{matrix_8c_aec03481d950677386122e3c8ba6a5cd0}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_two\_norm@{matrix\_get\_two\_norm}}
+\index{matrix\_get\_two\_norm@{matrix\_get\_two\_norm}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_two\_norm()}{matrix\_get\_two\_norm()}}
+{\footnotesize\ttfamily double matrix\+\_\+get\+\_\+two\+\_\+norm (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get the 2-\/norm of a matrix that is equal to the largest singular value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the 2-\/norm of a matrix. 
+\end{DoxyReturn}
+
+
+Definition at line 752 of file matrix.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+copy(), matrix\+\_\+print(), matrix\+\_\+t, matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd(), svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), and svd\+\_\+get\+\_\+\+U\+\_\+dim().
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_abbaf8f39b2b7bb4bd2987f99674c1213}\label{matrix_8c_abbaf8f39b2b7bb4bd2987f99674c1213}} 
+\index{matrix.c@{matrix.c}!matrix\_get\_upp\_triang@{matrix\_get\_upp\_triang}}
+\index{matrix\_get\_upp\_triang@{matrix\_get\_upp\_triang}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_upp\_triang()}{matrix\_get\_upp\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+upp\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tr\+\_\+up\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Gets the upper triangular part of a matrix. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em tr\+\_\+up\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the upper triangular part of the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 841 of file matrix.\+c.
+
+
+
+Referenced by qr\+\_\+givens\+\_\+decomp(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_a48b36217faeda15438f4e07c54d0ef9e}\label{matrix_8c_a48b36217faeda15438f4e07c54d0ef9e}} 
+\index{matrix.c@{matrix.c}!matrix\_in\_place\_transpose@{matrix\_in\_place\_transpose}}
+\index{matrix\_in\_place\_transpose@{matrix\_in\_place\_transpose}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_in\_place\_transpose()}{matrix\_in\_place\_transpose()}}
+{\footnotesize\ttfamily void matrix\+\_\+in\+\_\+place\+\_\+transpose (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the in-\/place transpose of a matrix. 
+
+Transpose the matrix without auxiliary memory.
+
+\begin{DoxyNote}{Note}
+This function is limited to square matrices.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row and column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix to transpose. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 69 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_acfd2bbc4a90915e57a4555694e842312}\label{matrix_8c_acfd2bbc4a90915e57a4555694e842312}} 
+\index{matrix.c@{matrix.c}!matrix\_init@{matrix\_init}}
+\index{matrix\_init@{matrix\_init}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_init()}{matrix\_init()}}
+{\footnotesize\ttfamily void matrix\+\_\+init (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value }\end{DoxyParamCaption})}
+
+
+
+Initialize all the elements of the matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & value to be set. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 51 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8c_a550aa0d5a3212e35ad0af134895fd20a}\label{matrix_8c_a550aa0d5a3212e35ad0af134895fd20a}} 
+\index{matrix.c@{matrix.c}!matrix\_mul@{matrix\_mul}}
+\index{matrix\_mul@{matrix\_mul}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul()}{matrix\_mul()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a\+\_\+line\+\_\+num,  }\item[{uint8\+\_\+t}]{a\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{a\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\mbox{]},  }\item[{uint8\+\_\+t}]{b\+\_\+line\+\_\+num,  }\item[{uint8\+\_\+t}]{b\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+matrix\mbox{[}b\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of two matrices. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a\+\_\+line\+\_\+num} & row number of the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+col\+\_\+num} & column number of the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+line\+\_\+num} & row number of the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+col\+\_\+num} & column number of the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 363 of file matrix.\+c.
+
+
+
+Referenced by get\+\_\+\+P\+D\+O\+P(), matrix\+\_\+test(), and solve\+\_\+lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8c_acfd7c6f021f4fbcd393fe849c82f34de}\label{matrix_8c_acfd7c6f021f4fbcd393fe849c82f34de}} 
+\index{matrix.c@{matrix.c}!matrix\_mul\_col\_vec\_row\_vec@{matrix\_mul\_col\_vec\_row\_vec}}
+\index{matrix\_mul\_col\_vec\_row\_vec@{matrix\_mul\_col\_vec\_row\_vec}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_col\_vec\_row\_vec()}{matrix\_mul\_col\_vec\_row\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+col\+\_\+vec\+\_\+row\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{col\+\_\+vec\mbox{[}m\mbox{]},  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{row\+\_\+vec\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{res\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}max\+\_\+n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a column and row vector. 
+
+Return Cm,1 $\ast$ R1,n = Mm,n, where C is a m-\/dimensional column vector, R is a n-\/dimensional row vector, and the result is a (mxn)-\/matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the column vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & column number of the result matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em res\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the (mxn) result matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 531 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8c_a51139e6c87b602e5e0ebfbc406fda35d}\label{matrix_8c_a51139e6c87b602e5e0ebfbc406fda35d}} 
+\index{matrix.c@{matrix.c}!matrix\_mul\_scalar@{matrix\_mul\_scalar}}
+\index{matrix\_mul\_scalar@{matrix\_mul\_scalar}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_scalar()}{matrix\_mul\_scalar()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+scalar (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mat\+\_\+src\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mat\+\_\+dest\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Multiply all elements of a matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em mat\+\_\+src} & pointer to the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & multiplication factor. \\
+\hline
+\mbox{\texttt{ out}}  & {\em mat\+\_\+dest\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 602 of file matrix.\+c.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt(), and opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{matrix_8c_ac735d13efe5b76ecf60ac13ec79da8e3}\label{matrix_8c_ac735d13efe5b76ecf60ac13ec79da8e3}} 
+\index{matrix.c@{matrix.c}!matrix\_mul\_scalar\_vec\_matr@{matrix\_mul\_scalar\_vec\_matr}}
+\index{matrix\_mul\_scalar\_vec\_matr@{matrix\_mul\_scalar\_vec\_matr}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_scalar\_vec\_matr()}{matrix\_mul\_scalar\_vec\_matr()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{scalar,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a scalar with row vector and a matrix. 
+
+Return scal$\ast$\+R1,m $\ast$ Am,n = R1,n, where scal is a scalar, R is a m-\/dimensional row vector, A is a (mxn)-\/matrix, and the result is a row vector of n-\/dimension.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & size of the row vector and row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scalar} & scalar value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination row vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 470 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_ad610bcce232c69ca302550f57b1ad9fb}\label{matrix_8c_ad610bcce232c69ca302550f57b1ad9fb}} 
+\index{matrix.c@{matrix.c}!matrix\_mul\_vec@{matrix\_mul\_vec}}
+\index{matrix\_mul\_vec@{matrix\_mul\_vec}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_vec()}{matrix\_mul\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a matrix with a column vector. 
+
+Return Am,n $\ast$ Vn,1 = Bm,1, where the A is a (mxn)-\/matrix, V is a n-\/dimensional column vector, and the result is a m-\/dimensional column vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec} & pointer to the n-\/dimensional column vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination m-\/dimensional column vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 434 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by get\+\_\+delta\+\_\+x(), loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), newton\+\_\+raphson(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), solve(), solve\+\_\+lu\+\_\+decomp(), solve\+\_\+test(), and trilateration\+\_\+get\+\_\+particular\+\_\+solution().
+
+\mbox{\Hypertarget{matrix_8c_a56513a88eff05b0683320c532fadf945}\label{matrix_8c_a56513a88eff05b0683320c532fadf945}} 
+\index{matrix.c@{matrix.c}!matrix\_part\_copy@{matrix\_part\_copy}}
+\index{matrix\_part\_copy@{matrix\_part\_copy}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_copy()}{matrix\_part\_copy()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+copy (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{dest\+\_\+row\+\_\+num,  }\item[{uint8\+\_\+t}]{dest\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Copy a part of a matrix to another matrix or sub-\/matrix. 
+
+A part of the source matrix can be copied in a sub-\/part of the destination matrix (sub-\/matrix). The source and destination sub-\/matrices are limited by the row and column indices.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+row\+\_\+ind} & the start index of the rows of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+row\+\_\+ind} & the end index of the rows of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+col\+\_\+ind} & the start index of the columns of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+col\+\_\+ind} & the end index of the columns of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+row\+\_\+num} & the row number of the destination sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+col\+\_\+num} & the column number of the destination sub-\/matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination (sub)-\/matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 89 of file matrix.\+c.
+
+
+
+Referenced by qr\+\_\+common\+\_\+get\+\_\+reduced\+\_\+\+Q\+R(), and qr\+\_\+givens\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8c_a3763252ca00e4c8522ae1bfd5ef40f0a}\label{matrix_8c_a3763252ca00e4c8522ae1bfd5ef40f0a}} 
+\index{matrix.c@{matrix.c}!matrix\_part\_mul@{matrix\_part\_mul}}
+\index{matrix\_part\_mul@{matrix\_part\_mul}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_mul()}{matrix\_part\_mul()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a\+\_\+col\+\_\+num\+\_\+max,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\+\_\+max\mbox{]},  }\item[{uint8\+\_\+t}]{b\+\_\+col\+\_\+num\+\_\+max,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\+\_\+max\mbox{]},  }\item[{uint8\+\_\+t}]{a\+\_\+start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{a\+\_\+end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{a\+\_\+start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{a\+\_\+end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{dest\+\_\+col\+\_\+size,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+size\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the partial multiplication of two matrices. 
+
+Enables the calculation of matrix product of parts of two matrices.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a\+\_\+col\+\_\+num\+\_\+max} & column number of the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+col\+\_\+num\+\_\+max} & column number of the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+start\+\_\+row\+\_\+ind} & row begin of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+end\+\_\+row\+\_\+ind} & row end of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+start\+\_\+col\+\_\+ind} & column begin of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+end\+\_\+col\+\_\+ind} & column end of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+start\+\_\+row\+\_\+ind} & row begin of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+end\+\_\+row\+\_\+ind} & row end of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+start\+\_\+col\+\_\+ind} & column begin of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+end\+\_\+col\+\_\+ind} & column end of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+col\+\_\+size} & column size of the destination matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 391 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_a06f75ae4924e3f0dfd0b6a25313dc731}\label{matrix_8c_a06f75ae4924e3f0dfd0b6a25313dc731}} 
+\index{matrix.c@{matrix.c}!matrix\_part\_mul\_scalar\_vec\_matr@{matrix\_part\_mul\_scalar\_vec\_matr}}
+\index{matrix\_part\_mul\_scalar\_vec\_matr@{matrix\_part\_mul\_scalar\_vec\_matr}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_mul\_scalar\_vec\_matr()}{matrix\_part\_mul\_scalar\_vec\_matr()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{scalar,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}max\+\_\+m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{begin\+\_\+row,  }\item[{uint8\+\_\+t}]{begin\+\_\+column,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}max\+\_\+n -\/ begin\+\_\+row\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a scalar with row vector and a sub-\/matrix. 
+
+Return scal$\ast$\+R1,m $\ast$ Am,n = R1,n, where scal is a scalar, R is a m-\/dimensional row vector, A is a (mxn)-\/matrix, and the result is a row vector of n-\/dimension.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & size of the row vector and row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scalar} & scalar value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em begin\+\_\+row} & start row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em begin\+\_\+column} & start column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination row vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 489 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_a72073ccd483f9cc438425d3d8ffd3029}\label{matrix_8c_a72073ccd483f9cc438425d3d8ffd3029}} 
+\index{matrix.c@{matrix.c}!matrix\_part\_print@{matrix\_part\_print}}
+\index{matrix\_part\_print@{matrix\_part\_print}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_print()}{matrix\_part\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+col\+\_\+ind }\end{DoxyParamCaption})}
+
+
+
+Display the values of the sub-\/matrix elements. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+row\+\_\+ind} & start row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+row\+\_\+ind} & end row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+col\+\_\+ind} & start column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+col\+\_\+ind} & end column number of the sub-\/matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 164 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8c_a3570c016691507c003dd7a54cb37e7e2}\label{matrix_8c_a3570c016691507c003dd7a54cb37e7e2}} 
+\index{matrix.c@{matrix.c}!matrix\_part\_swap\_rows@{matrix\_part\_swap\_rows}}
+\index{matrix\_part\_swap\_rows@{matrix\_part\_swap\_rows}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_swap\_rows()}{matrix\_part\_swap\_rows()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+swap\+\_\+rows (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j,  }\item[{uint8\+\_\+t}]{col\+\_\+begin,  }\item[{uint8\+\_\+t}]{col\+\_\+end }\end{DoxyParamCaption})}
+
+
+
+Swaps two rows of a sub-\/matrix. 
+
+Swaps the rows i and j of a part of a matrix.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the entire matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & the i-\/the row of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & the j-\/the row of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+begin} & the column begin of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+end} & the column end of the sub-\/matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 736 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8c_a32ab12965ec43c2acf65cf9dd510353a}\label{matrix_8c_a32ab12965ec43c2acf65cf9dd510353a}} 
+\index{matrix.c@{matrix.c}!matrix\_print@{matrix\_print}}
+\index{matrix\_print@{matrix\_print}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_print()}{matrix\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Display the values of the matrix elements. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 141 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), and svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s().
+
+\mbox{\Hypertarget{matrix_8c_a722a0230185fd66f0cecbeae7d50ce1a}\label{matrix_8c_a722a0230185fd66f0cecbeae7d50ce1a}} 
+\index{matrix.c@{matrix.c}!matrix\_read@{matrix\_read}}
+\index{matrix\_read@{matrix\_read}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_read()}{matrix\_read()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+read (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j }\end{DoxyParamCaption})}
+
+
+
+Get the value of a matrix at the position (i,j). 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & row number. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & column number.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the value of the matrix at the row i and column j. 
+\end{DoxyReturn}
+
+
+Definition at line 895 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8c_a49aa70a7d6ad76388ea08acfe43b7374}\label{matrix_8c_a49aa70a7d6ad76388ea08acfe43b7374}} 
+\index{matrix.c@{matrix.c}!matrix\_set\_diag\_elements@{matrix\_set\_diag\_elements}}
+\index{matrix\_set\_diag\_elements@{matrix\_set\_diag\_elements}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_set\_diag\_elements()}{matrix\_set\_diag\_elements()}}
+{\footnotesize\ttfamily void matrix\+\_\+set\+\_\+diag\+\_\+elements (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Set all the diagonal elements of a matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & value to be set. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em diag\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 565 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+diag\+\_\+mat().
+
+\mbox{\Hypertarget{matrix_8c_aed6fab1ffa40243eeb08117215082be3}\label{matrix_8c_aed6fab1ffa40243eeb08117215082be3}} 
+\index{matrix.c@{matrix.c}!matrix\_sub@{matrix\_sub}}
+\index{matrix\_sub@{matrix\_sub}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_sub()}{matrix\_sub()}}
+{\footnotesize\ttfamily void matrix\+\_\+sub (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+\_\+minus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the subtraction of two matrices. 
+
+Subtract matrix B from matrix A and return the result in A\+\_\+minus\+\_\+B matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em A\+\_\+minus\+\_\+\+B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 329 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_a875d6c55a16ee9f8bf523b8c1c82bc6f}\label{matrix_8c_a875d6c55a16ee9f8bf523b8c1c82bc6f}} 
+\index{matrix.c@{matrix.c}!matrix\_swap\_rows@{matrix\_swap\_rows}}
+\index{matrix\_swap\_rows@{matrix\_swap\_rows}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_swap\_rows()}{matrix\_swap\_rows()}}
+{\footnotesize\ttfamily void matrix\+\_\+swap\+\_\+rows (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j }\end{DoxyParamCaption})}
+
+
+
+Swaps two rows of a matrix. 
+
+Swaps the rows i and j of a matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & the i-\/the row of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & the j-\/the row of the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 725 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp(), and matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_a0107887a6c40980fa639750be8262f01}\label{matrix_8c_a0107887a6c40980fa639750be8262f01}} 
+\index{matrix.c@{matrix.c}!matrix\_trans\_mul\_itself@{matrix\_trans\_mul\_itself}}
+\index{matrix\_trans\_mul\_itself@{matrix\_trans\_mul\_itself}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_trans\_mul\_itself()}{matrix\_trans\_mul\_itself()}}
+{\footnotesize\ttfamily void matrix\+\_\+trans\+\_\+mul\+\_\+itself (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+T\+\_\+mul\+\_\+A\mbox{[}n\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of the transpose of a matrix with itself. 
+
+Transpose the matrix A and multiply it with the matrix A\+: A\textquotesingle{}$\ast$A.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em A\+T\+\_\+mul\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix (A\textquotesingle{}$\ast$A). \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 545 of file matrix.\+c.
+
+
+
+References matrix\+\_\+get\+\_\+column\+\_\+vec(), and matrix\+\_\+t.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J(), modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), and opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{matrix_8c_a53b0a1829b2085414fb66a9e9bd6c7b7}\label{matrix_8c_a53b0a1829b2085414fb66a9e9bd6c7b7}} 
+\index{matrix.c@{matrix.c}!matrix\_trans\_mul\_vec@{matrix\_trans\_mul\_vec}}
+\index{matrix\_trans\_mul\_vec@{matrix\_trans\_mul\_vec}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_trans\_mul\_vec()}{matrix\_trans\_mul\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+trans\+\_\+mul\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{b\+\_\+size,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+vec\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{c\+\_\+vec\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of transposed matrix with column vector. 
+
+Transpose A and return A\textquotesingle{}n,m $\ast$ Vm,1 = Bn,1, where A is a (mxn)-\/matrix, V is a m-\/dimensional column vector, and the result is a n-\/dimensional column vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to transpose and multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to transpose and multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+size} & size of the column vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector of m-\/dimension. \\
+\hline
+\mbox{\texttt{ out}}  & {\em c\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination, column vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 511 of file matrix.\+c.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), solve\+\_\+givens(), and solve\+\_\+householder().
+
+\mbox{\Hypertarget{matrix_8c_ad7c9a682a3cc4ca33c030afa8798241a}\label{matrix_8c_ad7c9a682a3cc4ca33c030afa8798241a}} 
+\index{matrix.c@{matrix.c}!matrix\_transpose@{matrix\_transpose}}
+\index{matrix\_transpose@{matrix\_transpose}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_transpose()}{matrix\_transpose()}}
+{\footnotesize\ttfamily void matrix\+\_\+transpose (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}n\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the transpose of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix to transpose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 56 of file matrix.\+c.
+
+
+
+Referenced by get\+\_\+\+P\+D\+O\+P(), matrix\+\_\+test(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8c_a3cf18a2c5c6ad62a4e0a0c00d27e2887}\label{matrix_8c_a3cf18a2c5c6ad62a4e0a0c00d27e2887}} 
+\index{matrix.c@{matrix.c}!matrix\_vec\_mul\_matr@{matrix\_vec\_mul\_matr}}
+\index{matrix\_vec\_mul\_matr@{matrix\_vec\_mul\_matr}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_vec\_mul\_matr()}{matrix\_vec\_mul\_matr()}}
+{\footnotesize\ttfamily void matrix\+\_\+vec\+\_\+mul\+\_\+matr (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of row vector and a matrix. 
+
+Return R1,m $\ast$ Am,n = R1,n, where R is a m-\/dimensional row vector, A is a (mxn)-\/matrix, and the result is a row vector of n-\/dimension.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & size of the row vector and row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination row vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 452 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8c_a90b6eafa665d34d7330581c32564d632}\label{matrix_8c_a90b6eafa665d34d7330581c32564d632}} 
+\index{matrix.c@{matrix.c}!matrix\_write@{matrix\_write}}
+\index{matrix\_write@{matrix\_write}!matrix.c@{matrix.c}}
+\doxysubsubsection{\texorpdfstring{matrix\_write()}{matrix\_write()}}
+{\footnotesize\ttfamily void matrix\+\_\+write (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{val }\end{DoxyParamCaption})}
+
+
+
+Write a value in a matrix at the position (i,j). 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & row number. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & column number. \\
+\hline
+\mbox{\texttt{ in}}  & {\em val} & value to write in the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 901 of file matrix.\+c.
+
diff --git a/doc/doxygen/latex/matrix_8h.tex b/doc/doxygen/latex/matrix_8h.tex
new file mode 100644
index 0000000..31c0fa7
--- /dev/null
+++ b/doc/doxygen/latex/matrix_8h.tex
@@ -0,0 +1,1644 @@
+\hypertarget{matrix_8h}{}\doxysection{matrix.\+h File Reference}
+\label{matrix_8h}\index{matrix.h@{matrix.h}}
+
+
+Matrix computations.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+\doxysubsection*{Data Structures}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em A structure to define the row and column number of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}~double
+\begin{DoxyCompactList}\small\item\em Define the data type of the matrix elements. \end{DoxyCompactList}\item 
+\#define \mbox{\hyperlink{matrix_8h_af57ae8796956bfd0ee173b9040ba5192}{M\+A\+C\+H\+E\+PS}}~2E-\/16
+\item 
+\#define \mbox{\hyperlink{matrix_8h_ae71449b1cc6e6250b91f539153a7a0d3}{M\+\_\+\+PI}}~3.\+14159265358979323846
+\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{matrix_8h_acfd2bbc4a90915e57a4555694e842312}{matrix\+\_\+init}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value)
+\begin{DoxyCompactList}\small\item\em Initialize all the elements of the matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a0e06b2cfb86340e88be7b1219bef0ce3}{matrix\+\_\+clear}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Clear all the elements of the vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ad7c9a682a3cc4ca33c030afa8798241a}{matrix\+\_\+transpose}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}n\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the transpose of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a48b36217faeda15438f4e07c54d0ef9e}{matrix\+\_\+in\+\_\+place\+\_\+transpose}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the in-\/place transpose of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ae8d8daa117e9f96a5e29fe6c76c4998c}{matrix\+\_\+copy}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Copy the elements of a matrix to another matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a56513a88eff05b0683320c532fadf945}{matrix\+\_\+part\+\_\+copy}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t start\+\_\+row\+\_\+ind, uint8\+\_\+t end\+\_\+row\+\_\+ind, uint8\+\_\+t start\+\_\+col\+\_\+ind, uint8\+\_\+t end\+\_\+col\+\_\+ind, uint8\+\_\+t dest\+\_\+row\+\_\+num, uint8\+\_\+t dest\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Copy a part of a matrix to another matrix or sub-\/matrix. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{matrix_8h_a53879e7c4cfbc96725aef9f8234be7dd}{matrix\+\_\+get\+\_\+rank}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Compute the rank of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ac7101bbaa3a2698658276a7e21501093}{matrix\+\_\+add}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+\_\+plus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the addition of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_aa8acafd4181978f536976f8151e51516}{matrix\+\_\+add\+\_\+to\+\_\+diag}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t diag\+\_\+el\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value)
+\begin{DoxyCompactList}\small\item\em Add a number to diagonal elements of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_aed6fab1ffa40243eeb08117215082be3}{matrix\+\_\+sub}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+\_\+minus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the subtraction of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a550aa0d5a3212e35ad0af134895fd20a}{matrix\+\_\+mul}} (uint8\+\_\+t a\+\_\+line\+\_\+num, uint8\+\_\+t a\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} a\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\mbox{]}, uint8\+\_\+t b\+\_\+line\+\_\+num, uint8\+\_\+t b\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+matrix\mbox{[}b\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a3763252ca00e4c8522ae1bfd5ef40f0a}{matrix\+\_\+part\+\_\+mul}} (uint8\+\_\+t a\+\_\+col\+\_\+num\+\_\+max, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\+\_\+max\mbox{]}, uint8\+\_\+t b\+\_\+col\+\_\+num\+\_\+max, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\+\_\+max\mbox{]}, uint8\+\_\+t a\+\_\+start\+\_\+row\+\_\+ind, uint8\+\_\+t a\+\_\+end\+\_\+row\+\_\+ind, uint8\+\_\+t a\+\_\+start\+\_\+col\+\_\+ind, uint8\+\_\+t a\+\_\+end\+\_\+col\+\_\+ind, uint8\+\_\+t b\+\_\+start\+\_\+row\+\_\+ind, uint8\+\_\+t b\+\_\+end\+\_\+row\+\_\+ind, uint8\+\_\+t b\+\_\+start\+\_\+col\+\_\+ind, uint8\+\_\+t b\+\_\+end\+\_\+col\+\_\+ind, uint8\+\_\+t dest\+\_\+col\+\_\+size, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+size\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the partial multiplication of two matrices. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ad610bcce232c69ca302550f57b1ad9fb}{matrix\+\_\+mul\+\_\+vec}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a matrix with a column vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a53b0a1829b2085414fb66a9e9bd6c7b7}{matrix\+\_\+trans\+\_\+mul\+\_\+vec}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t b\+\_\+size, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+vec\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} c\+\_\+vec\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of transposed matrix with column vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_acfd7c6f021f4fbcd393fe849c82f34de}{matrix\+\_\+mul\+\_\+col\+\_\+vec\+\_\+row\+\_\+vec}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} col\+\_\+vec\mbox{[}m\mbox{]}, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} row\+\_\+vec\mbox{[}n\mbox{]}, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} res\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}max\+\_\+n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a column and row vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a3cf18a2c5c6ad62a4e0a0c00d27e2887}{matrix\+\_\+vec\+\_\+mul\+\_\+matr}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of row vector and a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ac735d13efe5b76ecf60ac13ec79da8e3}{matrix\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} scalar, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a scalar with row vector and a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a0107887a6c40980fa639750be8262f01}{matrix\+\_\+trans\+\_\+mul\+\_\+itself}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+T\+\_\+mul\+\_\+A\mbox{[}n\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of the transpose of a matrix with itself. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a49aa70a7d6ad76388ea08acfe43b7374}{matrix\+\_\+set\+\_\+diag\+\_\+elements}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Set all the diagonal elements of a matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ae808f007791f060590d39c7668501988}{matrix\+\_\+get\+\_\+diag\+\_\+mat\+\_\+new}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Set all the diagonal elements of a matrix with values that are saved in a vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a18e47742f1653dcc4491badfe2537a0a}{matrix\+\_\+get\+\_\+diag\+\_\+mat}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Create a diagonal matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a51139e6c87b602e5e0ebfbc406fda35d}{matrix\+\_\+mul\+\_\+scalar}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mat\+\_\+src\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} value, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} mat\+\_\+dest\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Multiply all elements of a matrix with a specified value. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a3ae0b9f73f82716f3427a523a3412864}{matrix\+\_\+get\+\_\+column\+\_\+vec}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} col\+\_\+vec\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get a column of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ac20399f6a8de13b1f392a1e3f7c0fbf4}{matrix\+\_\+get\+\_\+part\+\_\+column\+\_\+vec}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t col\+\_\+num, uint8\+\_\+t offset, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} col\+\_\+vec\mbox{[}max\+\_\+m -\/ offset\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get a part of a column of a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8h_aef8d1508ad101227ab255a714ab22b94}{matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+column}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the largest element of a column vector in a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8h_a0a3d3cfa20ad3e75ad783af457343672}{matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+column}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the maximum absolute value of a column vector in a matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8h_ad2cecc467ac6480ef0f3423f962b39bc}{matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t row\+\_\+num, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the largest element of a column vector in a sub-\/matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8h_a8d77cfae4f1da83acac929c1ce13d252}{matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t row\+\_\+num, uint8\+\_\+t col\+\_\+num)
+\begin{DoxyCompactList}\small\item\em Get the maximum absolute value of a column vector in a sub-\/matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8h_a5f6a1948ec005cff4985559821c4943f}{matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+and\+\_\+index\+\_\+in\+\_\+part\+\_\+column}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t row\+\_\+num, uint8\+\_\+t col\+\_\+num, uint8\+\_\+t $\ast$index)
+\begin{DoxyCompactList}\small\item\em Get the maximum absolute value and its position in a column vector in a sub-\/matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a875d6c55a16ee9f8bf523b8c1c82bc6f}{matrix\+\_\+swap\+\_\+rows}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j)
+\begin{DoxyCompactList}\small\item\em Swaps two rows of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a3570c016691507c003dd7a54cb37e7e2}{matrix\+\_\+part\+\_\+swap\+\_\+rows}} (uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j, uint8\+\_\+t col\+\_\+begin, uint8\+\_\+t col\+\_\+end)
+\begin{DoxyCompactList}\small\item\em Swaps two rows of a sub-\/matrix. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{matrix_8h_aec03481d950677386122e3c8ba6a5cd0}{matrix\+\_\+get\+\_\+two\+\_\+norm}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get the 2-\/norm of a matrix that is equal to the largest singular value. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{matrix_8h_aaf85a32b8562c91d2d1889819580375e}{matrix\+\_\+get\+\_\+frob\+\_\+norm}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get the Frobenius norm of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ab166871472924745f70e2bb6e17498c8}{matrix\+\_\+get\+\_\+inv\+\_\+upp\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} inv\+\_\+U\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the inverse an upper triangular matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_ae8e87640fa1a2d259ee4dc98c955cb48}{matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} inv\+\_\+L\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the inverse a lower triangular matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_abbaf8f39b2b7bb4bd2987f99674c1213}{matrix\+\_\+get\+\_\+upp\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tr\+\_\+up\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Gets the upper triangular part of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_adfd93dda9be9b2e8df5805af7fee7845}{matrix\+\_\+get\+\_\+low\+\_\+triang}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} tr\+\_\+low\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Gets the lower triangular part of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a32ab12965ec43c2acf65cf9dd510353a}{matrix\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Display the values of the matrix elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a72073ccd483f9cc438425d3d8ffd3029}{matrix\+\_\+part\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t start\+\_\+row\+\_\+ind, uint8\+\_\+t end\+\_\+row\+\_\+ind, uint8\+\_\+t start\+\_\+col\+\_\+ind, uint8\+\_\+t end\+\_\+col\+\_\+ind)
+\begin{DoxyCompactList}\small\item\em Display the values of the sub-\/matrix elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a82f374a9b8b215f0ef53d35401eae524}{matrix\+\_\+flex\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t before\+\_\+dec, uint8\+\_\+t after\+\_\+dec)
+\begin{DoxyCompactList}\small\item\em Display the values of the matrix elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a72297a60e572f85929989e813388a9c5}{matrix\+\_\+flex\+\_\+part\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t start\+\_\+row\+\_\+ind, uint8\+\_\+t end\+\_\+row\+\_\+ind, uint8\+\_\+t start\+\_\+col\+\_\+ind, uint8\+\_\+t end\+\_\+col\+\_\+ind, uint8\+\_\+t before\+\_\+dot, uint8\+\_\+t after\+\_\+dot)
+\begin{DoxyCompactList}\small\item\em Display the values of the sub-\/matrix elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a06f75ae4924e3f0dfd0b6a25313dc731}{matrix\+\_\+part\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr}} (uint8\+\_\+t max\+\_\+m, uint8\+\_\+t max\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} scalar, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vec\mbox{[}max\+\_\+m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]}, uint8\+\_\+t begin\+\_\+row, uint8\+\_\+t begin\+\_\+column, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dst\+\_\+arr\mbox{[}max\+\_\+n -\/ begin\+\_\+row\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of a scalar with row vector and a sub-\/matrix. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{matrix_8h_a722a0230185fd66f0cecbeae7d50ce1a}{matrix\+\_\+read}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j)
+\begin{DoxyCompactList}\small\item\em Get the value of a matrix at the position (i,j). \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{matrix_8h_a90b6eafa665d34d7330581c32564d632}{matrix\+\_\+write}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i, uint8\+\_\+t j, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} val)
+\begin{DoxyCompactList}\small\item\em Write a value in a matrix at the position (i,j). \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Matrix computations. 
+
+Matrix computations include operations such as addition, subtraction, and transposition.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{matrix_8h_ae71449b1cc6e6250b91f539153a7a0d3}\label{matrix_8h_ae71449b1cc6e6250b91f539153a7a0d3}} 
+\index{matrix.h@{matrix.h}!M\_PI@{M\_PI}}
+\index{M\_PI@{M\_PI}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{M\_PI}{M\_PI}}
+{\footnotesize\ttfamily \#define M\+\_\+\+PI~3.\+14159265358979323846}
+
+Pi, the ratio of a circle\textquotesingle{}s circumference to its diameter. 
+
+Definition at line 54 of file matrix.\+h.
+
+\mbox{\Hypertarget{matrix_8h_af57ae8796956bfd0ee173b9040ba5192}\label{matrix_8h_af57ae8796956bfd0ee173b9040ba5192}} 
+\index{matrix.h@{matrix.h}!MACHEPS@{MACHEPS}}
+\index{MACHEPS@{MACHEPS}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{MACHEPS}{MACHEPS}}
+{\footnotesize\ttfamily \#define M\+A\+C\+H\+E\+PS~2E-\/16}
+
+The upper bound on the relative error due to rounding in floating point arithmetic. 
+
+Definition at line 46 of file matrix.\+h.
+
+\mbox{\Hypertarget{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}\label{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}} 
+\index{matrix.h@{matrix.h}!matrix\_t@{matrix\_t}}
+\index{matrix\_t@{matrix\_t}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_t}{matrix\_t}}
+{\footnotesize\ttfamily \#define matrix\+\_\+t~double}
+
+
+
+Define the data type of the matrix elements. 
+
+The user can choose between a double or floating point arithmetic. 
+
+Definition at line 38 of file matrix.\+h.
+
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{matrix_8h_ac7101bbaa3a2698658276a7e21501093}\label{matrix_8h_ac7101bbaa3a2698658276a7e21501093}} 
+\index{matrix.h@{matrix.h}!matrix\_add@{matrix\_add}}
+\index{matrix\_add@{matrix\_add}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_add()}{matrix\_add()}}
+{\footnotesize\ttfamily void matrix\+\_\+add (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+\_\+plus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the addition of two matrices. 
+
+Add matrix B to matrix A and return the result in A\+\_\+plus\+\_\+B matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em A\+\_\+plus\+\_\+\+B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 341 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_aa8acafd4181978f536976f8151e51516}\label{matrix_8h_aa8acafd4181978f536976f8151e51516}} 
+\index{matrix.h@{matrix.h}!matrix\_add\_to\_diag@{matrix\_add\_to\_diag}}
+\index{matrix\_add\_to\_diag@{matrix\_add\_to\_diag}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_add\_to\_diag()}{matrix\_add\_to\_diag()}}
+{\footnotesize\ttfamily void matrix\+\_\+add\+\_\+to\+\_\+diag (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{diag\+\_\+el\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value }\end{DoxyParamCaption})}
+
+
+
+Add a number to diagonal elements of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em diag\+\_\+el\+\_\+num} & number of diagonal elements to overwrite. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & the value to add to the diagonal elements. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 353 of file matrix.\+c.
+
+
+
+Referenced by opt\+\_\+levenberg\+\_\+marquardt(), and opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{matrix_8h_a0e06b2cfb86340e88be7b1219bef0ce3}\label{matrix_8h_a0e06b2cfb86340e88be7b1219bef0ce3}} 
+\index{matrix.h@{matrix.h}!matrix\_clear@{matrix\_clear}}
+\index{matrix\_clear@{matrix\_clear}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_clear()}{matrix\_clear()}}
+{\footnotesize\ttfamily void matrix\+\_\+clear (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Clear all the elements of the vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 46 of file matrix.\+c.
+
+
+
+Referenced by dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J(), householder\+\_\+test(), matrix\+\_\+get\+\_\+diag\+\_\+mat(), matrix\+\_\+get\+\_\+diag\+\_\+mat\+\_\+new(), matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang(), matrix\+\_\+get\+\_\+inv\+\_\+upp\+\_\+triang(), and qr\+\_\+givens\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8h_ae8d8daa117e9f96a5e29fe6c76c4998c}\label{matrix_8h_ae8d8daa117e9f96a5e29fe6c76c4998c}} 
+\index{matrix.h@{matrix.h}!matrix\_copy@{matrix\_copy}}
+\index{matrix\_copy@{matrix\_copy}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_copy()}{matrix\_copy()}}
+{\footnotesize\ttfamily void matrix\+\_\+copy (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Copy the elements of a matrix to another matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to copy. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to copy. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the source matrix \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 83 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by givens\+\_\+test(), householder\+\_\+test(), matrix\+\_\+get\+\_\+two\+\_\+norm(), solve\+\_\+big\+\_\+matrix\+\_\+test(), solve\+\_\+test(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a72297a60e572f85929989e813388a9c5}\label{matrix_8h_a72297a60e572f85929989e813388a9c5}} 
+\index{matrix.h@{matrix.h}!matrix\_flex\_part\_print@{matrix\_flex\_part\_print}}
+\index{matrix\_flex\_part\_print@{matrix\_flex\_part\_print}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_flex\_part\_print()}{matrix\_flex\_part\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+flex\+\_\+part\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{before\+\_\+dot,  }\item[{uint8\+\_\+t}]{after\+\_\+dot }\end{DoxyParamCaption})}
+
+
+
+Display the values of the sub-\/matrix elements. 
+
+This function allows the user to determine the precision as well as the with of the numbers to display.
+
+\begin{DoxyNote}{Note}
+This function is more memory-\/consuming than \mbox{\hyperlink{matrix_8c_a72073ccd483f9cc438425d3d8ffd3029}{matrix\+\_\+part\+\_\+print}}.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+row\+\_\+ind} & start row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+row\+\_\+ind} & end row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+col\+\_\+ind} & start column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+col\+\_\+ind} & end column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em before\+\_\+dot} & the number of digits to be printed before the decimal point. \\
+\hline
+\mbox{\texttt{ in}}  & {\em after\+\_\+dot} & the number of digits to be printed after the decimal point. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 247 of file matrix.\+c.
+
+
+
+References utils\+\_\+printf().
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a82f374a9b8b215f0ef53d35401eae524}\label{matrix_8h_a82f374a9b8b215f0ef53d35401eae524}} 
+\index{matrix.h@{matrix.h}!matrix\_flex\_print@{matrix\_flex\_print}}
+\index{matrix\_flex\_print@{matrix\_flex\_print}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_flex\_print()}{matrix\_flex\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+flex\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{before\+\_\+dec,  }\item[{uint8\+\_\+t}]{after\+\_\+dec }\end{DoxyParamCaption})}
+
+
+
+Display the values of the matrix elements. 
+
+This function allows the user to determine the precision as well as the with of the numbers to display.
+
+\begin{DoxyNote}{Note}
+This function is more memory-\/consuming than \mbox{\hyperlink{matrix_8c_a32ab12965ec43c2acf65cf9dd510353a}{matrix\+\_\+print}}.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em before\+\_\+dec} & the number of digits to be printed before the decimal point. \\
+\hline
+\mbox{\texttt{ in}}  & {\em after\+\_\+dec} & the number of digits to be printed after the decimal point. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 220 of file matrix.\+c.
+
+
+
+References utils\+\_\+printf().
+
+
+
+Referenced by givens\+\_\+test(), householder\+\_\+test(), inv\+\_\+triangular\+\_\+matrices\+\_\+test(), lu\+\_\+decomp\+\_\+test(), matrix\+\_\+test(), moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print(), optimization\+\_\+test(), pos\+\_\+algos\+\_\+common\+\_\+test(), solve\+\_\+big\+\_\+matrix\+\_\+test(), solve\+\_\+test(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a5f6a1948ec005cff4985559821c4943f}\label{matrix_8h_a5f6a1948ec005cff4985559821c4943f}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column}}
+\index{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column()}{matrix\_get\_abs\_max\_elem\_and\_index\_in\_part\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+and\+\_\+index\+\_\+in\+\_\+part\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{row\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{uint8\+\_\+t $\ast$}]{index }\end{DoxyParamCaption})}
+
+
+
+Get the maximum absolute value and its position in a column vector in a sub-\/matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+num} & row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em index} & pointer to the variable holding the position of the maximum absolute value in the column vector of the sub-\/matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximum absolute value of a partial column. 
+\end{DoxyReturn}
+
+
+Definition at line 703 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8h_a0a3d3cfa20ad3e75ad783af457343672}\label{matrix_8h_a0a3d3cfa20ad3e75ad783af457343672}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_abs\_max\_elem\_in\_column@{matrix\_get\_abs\_max\_elem\_in\_column}}
+\index{matrix\_get\_abs\_max\_elem\_in\_column@{matrix\_get\_abs\_max\_elem\_in\_column}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_abs\_max\_elem\_in\_column()}{matrix\_get\_abs\_max\_elem\_in\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the maximum absolute value of a column vector in a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximum absolute value of a column. 
+\end{DoxyReturn}
+
+
+Definition at line 651 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_a8d77cfae4f1da83acac929c1ce13d252}\label{matrix_8h_a8d77cfae4f1da83acac929c1ce13d252}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_abs\_max\_elem\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_in\_part\_column}}
+\index{matrix\_get\_abs\_max\_elem\_in\_part\_column@{matrix\_get\_abs\_max\_elem\_in\_part\_column}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_abs\_max\_elem\_in\_part\_column()}{matrix\_get\_abs\_max\_elem\_in\_part\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+abs\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{row\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the maximum absolute value of a column vector in a sub-\/matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+num} & row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the sub-\/matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximum absolute value of a partial column. 
+\end{DoxyReturn}
+
+
+Definition at line 685 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_a3ae0b9f73f82716f3427a523a3412864}\label{matrix_8h_a3ae0b9f73f82716f3427a523a3412864}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_column\_vec@{matrix\_get\_column\_vec}}
+\index{matrix\_get\_column\_vec@{matrix\_get\_column\_vec}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_column\_vec()}{matrix\_get\_column\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+column\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{col\+\_\+vec\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get a column of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & number of the requested column. \\
+\hline
+\mbox{\texttt{ out}}  & {\em col\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 612 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+trans\+\_\+mul\+\_\+itself().
+
+\mbox{\Hypertarget{matrix_8h_a18e47742f1653dcc4491badfe2537a0a}\label{matrix_8h_a18e47742f1653dcc4491badfe2537a0a}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_diag\_mat@{matrix\_get\_diag\_mat}}
+\index{matrix\_get\_diag\_mat@{matrix\_get\_diag\_mat}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_diag\_mat()}{matrix\_get\_diag\_mat()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+diag\+\_\+mat (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Create a diagonal matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & value of the diagonal elements. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em diag\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the diagonal matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 594 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear(), and matrix\+\_\+set\+\_\+diag\+\_\+elements().
+
+
+
+Referenced by lu\+\_\+decomp(), and matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_ae808f007791f060590d39c7668501988}\label{matrix_8h_ae808f007791f060590d39c7668501988}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_diag\_mat\_new@{matrix\_get\_diag\_mat\_new}}
+\index{matrix\_get\_diag\_mat\_new@{matrix\_get\_diag\_mat\_new}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_diag\_mat\_new()}{matrix\_get\_diag\_mat\_new()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+diag\+\_\+mat\+\_\+new (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Set all the diagonal elements of a matrix with values that are saved in a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em diag\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec} & pointer to the vector containing diagonal elements. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 581 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear().
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_aaf85a32b8562c91d2d1889819580375e}\label{matrix_8h_aaf85a32b8562c91d2d1889819580375e}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_frob\_norm@{matrix\_get\_frob\_norm}}
+\index{matrix\_get\_frob\_norm@{matrix\_get\_frob\_norm}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_frob\_norm()}{matrix\_get\_frob\_norm()}}
+{\footnotesize\ttfamily double matrix\+\_\+get\+\_\+frob\+\_\+norm (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get the Frobenius norm of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the Frobenius norm a matrix. 
+\end{DoxyReturn}
+
+
+Definition at line 782 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_ae8e87640fa1a2d259ee4dc98c955cb48}\label{matrix_8h_ae8e87640fa1a2d259ee4dc98c955cb48}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_inv\_low\_triang@{matrix\_get\_inv\_low\_triang}}
+\index{matrix\_get\_inv\_low\_triang@{matrix\_get\_inv\_low\_triang}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_inv\_low\_triang()}{matrix\_get\_inv\_low\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{L\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{inv\+\_\+L\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the inverse a lower triangular matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em L\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em inv\+\_\+\+L\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the inverse matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 817 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear(), and matrix\+\_\+t.
+
+
+
+Referenced by inv\+\_\+triangular\+\_\+matrices\+\_\+test(), and solve\+\_\+lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8h_ab166871472924745f70e2bb6e17498c8}\label{matrix_8h_ab166871472924745f70e2bb6e17498c8}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_inv\_upp\_triang@{matrix\_get\_inv\_upp\_triang}}
+\index{matrix\_get\_inv\_upp\_triang@{matrix\_get\_inv\_upp\_triang}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_inv\_upp\_triang()}{matrix\_get\_inv\_upp\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+inv\+\_\+upp\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{inv\+\_\+U\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the inverse an upper triangular matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the upper triangular matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em inv\+\_\+\+U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the inverse matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 795 of file matrix.\+c.
+
+
+
+References matrix\+\_\+clear(), and matrix\+\_\+t.
+
+
+
+Referenced by inv\+\_\+triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_adfd93dda9be9b2e8df5805af7fee7845}\label{matrix_8h_adfd93dda9be9b2e8df5805af7fee7845}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_low\_triang@{matrix\_get\_low\_triang}}
+\index{matrix\_get\_low\_triang@{matrix\_get\_low\_triang}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_low\_triang()}{matrix\_get\_low\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+low\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tr\+\_\+low\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Gets the lower triangular part of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em tr\+\_\+low\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the lower triangular part of the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 868 of file matrix.\+c.
+
+
+
+Referenced by triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_aef8d1508ad101227ab255a714ab22b94}\label{matrix_8h_aef8d1508ad101227ab255a714ab22b94}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_max\_elem\_in\_column@{matrix\_get\_max\_elem\_in\_column}}
+\index{matrix\_get\_max\_elem\_in\_column@{matrix\_get\_max\_elem\_in\_column}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_max\_elem\_in\_column()}{matrix\_get\_max\_elem\_in\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the largest element of a column vector in a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the largest element of a column. 
+\end{DoxyReturn}
+
+
+Definition at line 635 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_ad2cecc467ac6480ef0f3423f962b39bc}\label{matrix_8h_ad2cecc467ac6480ef0f3423f962b39bc}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_max\_elem\_in\_part\_column@{matrix\_get\_max\_elem\_in\_part\_column}}
+\index{matrix\_get\_max\_elem\_in\_part\_column@{matrix\_get\_max\_elem\_in\_part\_column}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_max\_elem\_in\_part\_column()}{matrix\_get\_max\_elem\_in\_part\_column()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+get\+\_\+max\+\_\+elem\+\_\+in\+\_\+part\+\_\+column (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{row\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num }\end{DoxyParamCaption})}
+
+
+
+Get the largest element of a column vector in a sub-\/matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+num} & row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the sub-\/matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the largest element of a partial column. 
+\end{DoxyReturn}
+
+
+Definition at line 668 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_ac20399f6a8de13b1f392a1e3f7c0fbf4}\label{matrix_8h_ac20399f6a8de13b1f392a1e3f7c0fbf4}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_part\_column\_vec@{matrix\_get\_part\_column\_vec}}
+\index{matrix\_get\_part\_column\_vec@{matrix\_get\_part\_column\_vec}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_part\_column\_vec()}{matrix\_get\_part\_column\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+part\+\_\+column\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{uint8\+\_\+t}]{offset,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{col\+\_\+vec\mbox{[}max\+\_\+m -\/ offset\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get a part of a column of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & number of the requested column. \\
+\hline
+\mbox{\texttt{ in}}  & {\em offset} & points to the start position of the column vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em col\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 623 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8h_a53879e7c4cfbc96725aef9f8234be7dd}\label{matrix_8h_a53879e7c4cfbc96725aef9f8234be7dd}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_rank@{matrix\_get\_rank}}
+\index{matrix\_get\_rank@{matrix\_get\_rank}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_rank()}{matrix\_get\_rank()}}
+{\footnotesize\ttfamily uint8\+\_\+t matrix\+\_\+get\+\_\+rank (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Compute the rank of a matrix. 
+
+The S\+VD must be previously invoked to get the singular values of the matrix.
+
+\begin{DoxyNote}{Note}
+This function should be invoked after the call of the \mbox{\hyperlink{svd_8c_acdccfce5b7732e6334ca5a521c57e63e}{svd}} method.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]}} & array containing the singular values of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & length of the singular values array.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the rank of the matrix. 
+\end{DoxyReturn}
+
+
+Definition at line 312 of file matrix.\+c.
+
+
+
+Referenced by trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{matrix_8h_aec03481d950677386122e3c8ba6a5cd0}\label{matrix_8h_aec03481d950677386122e3c8ba6a5cd0}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_two\_norm@{matrix\_get\_two\_norm}}
+\index{matrix\_get\_two\_norm@{matrix\_get\_two\_norm}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_two\_norm()}{matrix\_get\_two\_norm()}}
+{\footnotesize\ttfamily double matrix\+\_\+get\+\_\+two\+\_\+norm (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get the 2-\/norm of a matrix that is equal to the largest singular value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the 2-\/norm of a matrix. 
+\end{DoxyReturn}
+
+
+Definition at line 752 of file matrix.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+copy(), matrix\+\_\+print(), matrix\+\_\+t, matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd(), svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), and svd\+\_\+get\+\_\+\+U\+\_\+dim().
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_abbaf8f39b2b7bb4bd2987f99674c1213}\label{matrix_8h_abbaf8f39b2b7bb4bd2987f99674c1213}} 
+\index{matrix.h@{matrix.h}!matrix\_get\_upp\_triang@{matrix\_get\_upp\_triang}}
+\index{matrix\_get\_upp\_triang@{matrix\_get\_upp\_triang}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_get\_upp\_triang()}{matrix\_get\_upp\_triang()}}
+{\footnotesize\ttfamily void matrix\+\_\+get\+\_\+upp\+\_\+triang (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{tr\+\_\+up\+\_\+A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Gets the upper triangular part of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em tr\+\_\+up\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the upper triangular part of the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 841 of file matrix.\+c.
+
+
+
+Referenced by qr\+\_\+givens\+\_\+decomp(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a48b36217faeda15438f4e07c54d0ef9e}\label{matrix_8h_a48b36217faeda15438f4e07c54d0ef9e}} 
+\index{matrix.h@{matrix.h}!matrix\_in\_place\_transpose@{matrix\_in\_place\_transpose}}
+\index{matrix\_in\_place\_transpose@{matrix\_in\_place\_transpose}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_in\_place\_transpose()}{matrix\_in\_place\_transpose()}}
+{\footnotesize\ttfamily void matrix\+\_\+in\+\_\+place\+\_\+transpose (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}$\,$\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the in-\/place transpose of a matrix. 
+
+Transpose the matrix without auxiliary memory.
+
+\begin{DoxyNote}{Note}
+This function is limited to square matrices.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row and column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix to transpose. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 69 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_acfd2bbc4a90915e57a4555694e842312}\label{matrix_8h_acfd2bbc4a90915e57a4555694e842312}} 
+\index{matrix.h@{matrix.h}!matrix\_init@{matrix\_init}}
+\index{matrix\_init@{matrix\_init}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_init()}{matrix\_init()}}
+{\footnotesize\ttfamily void matrix\+\_\+init (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value }\end{DoxyParamCaption})}
+
+
+
+Initialize all the elements of the matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & value to be set. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 51 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8h_a550aa0d5a3212e35ad0af134895fd20a}\label{matrix_8h_a550aa0d5a3212e35ad0af134895fd20a}} 
+\index{matrix.h@{matrix.h}!matrix\_mul@{matrix\_mul}}
+\index{matrix\_mul@{matrix\_mul}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul()}{matrix\_mul()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a\+\_\+line\+\_\+num,  }\item[{uint8\+\_\+t}]{a\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{a\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\mbox{]},  }\item[{uint8\+\_\+t}]{b\+\_\+line\+\_\+num,  }\item[{uint8\+\_\+t}]{b\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+matrix\mbox{[}b\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}a\+\_\+line\+\_\+num\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of two matrices. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a\+\_\+line\+\_\+num} & row number of the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+col\+\_\+num} & column number of the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+line\+\_\+num} & row number of the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+col\+\_\+num} & column number of the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 363 of file matrix.\+c.
+
+
+
+Referenced by get\+\_\+\+P\+D\+O\+P(), matrix\+\_\+test(), and solve\+\_\+lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8h_acfd7c6f021f4fbcd393fe849c82f34de}\label{matrix_8h_acfd7c6f021f4fbcd393fe849c82f34de}} 
+\index{matrix.h@{matrix.h}!matrix\_mul\_col\_vec\_row\_vec@{matrix\_mul\_col\_vec\_row\_vec}}
+\index{matrix\_mul\_col\_vec\_row\_vec@{matrix\_mul\_col\_vec\_row\_vec}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_col\_vec\_row\_vec()}{matrix\_mul\_col\_vec\_row\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+col\+\_\+vec\+\_\+row\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{col\+\_\+vec\mbox{[}m\mbox{]},  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{row\+\_\+vec\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{res\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}max\+\_\+n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a column and row vector. 
+
+Return Cm,1 $\ast$ R1,n = Mm,n, where C is a m-\/dimensional column vector, R is a n-\/dimensional row vector, and the result is a (mxn)-\/matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the column vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em row\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & column number of the result matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em res\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the (mxn) result matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 531 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8h_a51139e6c87b602e5e0ebfbc406fda35d}\label{matrix_8h_a51139e6c87b602e5e0ebfbc406fda35d}} 
+\index{matrix.h@{matrix.h}!matrix\_mul\_scalar@{matrix\_mul\_scalar}}
+\index{matrix\_mul\_scalar@{matrix\_mul\_scalar}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_scalar()}{matrix\_mul\_scalar()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+scalar (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mat\+\_\+src\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{mat\+\_\+dest\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Multiply all elements of a matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em mat\+\_\+src} & pointer to the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & multiplication factor. \\
+\hline
+\mbox{\texttt{ out}}  & {\em mat\+\_\+dest\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 602 of file matrix.\+c.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt(), and opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{matrix_8h_ac735d13efe5b76ecf60ac13ec79da8e3}\label{matrix_8h_ac735d13efe5b76ecf60ac13ec79da8e3}} 
+\index{matrix.h@{matrix.h}!matrix\_mul\_scalar\_vec\_matr@{matrix\_mul\_scalar\_vec\_matr}}
+\index{matrix\_mul\_scalar\_vec\_matr@{matrix\_mul\_scalar\_vec\_matr}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_scalar\_vec\_matr()}{matrix\_mul\_scalar\_vec\_matr()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{scalar,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a scalar with row vector and a matrix. 
+
+Return scal$\ast$\+R1,m $\ast$ Am,n = R1,n, where scal is a scalar, R is a m-\/dimensional row vector, A is a (mxn)-\/matrix, and the result is a row vector of n-\/dimension.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & size of the row vector and row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scalar} & scalar value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination row vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 470 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_ad610bcce232c69ca302550f57b1ad9fb}\label{matrix_8h_ad610bcce232c69ca302550f57b1ad9fb}} 
+\index{matrix.h@{matrix.h}!matrix\_mul\_vec@{matrix\_mul\_vec}}
+\index{matrix\_mul\_vec@{matrix\_mul\_vec}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_mul\_vec()}{matrix\_mul\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+mul\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a matrix with a column vector. 
+
+Return Am,n $\ast$ Vn,1 = Bm,1, where the A is a (mxn)-\/matrix, V is a n-\/dimensional column vector, and the result is a m-\/dimensional column vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec} & pointer to the n-\/dimensional column vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination m-\/dimensional column vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 434 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by get\+\_\+delta\+\_\+x(), loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), newton\+\_\+raphson(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), solve(), solve\+\_\+lu\+\_\+decomp(), solve\+\_\+test(), and trilateration\+\_\+get\+\_\+particular\+\_\+solution().
+
+\mbox{\Hypertarget{matrix_8h_a56513a88eff05b0683320c532fadf945}\label{matrix_8h_a56513a88eff05b0683320c532fadf945}} 
+\index{matrix.h@{matrix.h}!matrix\_part\_copy@{matrix\_part\_copy}}
+\index{matrix\_part\_copy@{matrix\_part\_copy}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_copy()}{matrix\_part\_copy()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+copy (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{dest\+\_\+row\+\_\+num,  }\item[{uint8\+\_\+t}]{dest\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+num\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Copy a part of a matrix to another matrix or sub-\/matrix. 
+
+A part of the source matrix can be copied in a sub-\/part of the destination matrix (sub-\/matrix). The source and destination sub-\/matrices are limited by the row and column indices.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the source matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+row\+\_\+ind} & the start index of the rows of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+row\+\_\+ind} & the end index of the rows of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+col\+\_\+ind} & the start index of the columns of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+col\+\_\+ind} & the end index of the columns of the source sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+row\+\_\+num} & the row number of the destination sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+col\+\_\+num} & the column number of the destination sub-\/matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination (sub)-\/matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 89 of file matrix.\+c.
+
+
+
+Referenced by qr\+\_\+common\+\_\+get\+\_\+reduced\+\_\+\+Q\+R(), and qr\+\_\+givens\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8h_a3763252ca00e4c8522ae1bfd5ef40f0a}\label{matrix_8h_a3763252ca00e4c8522ae1bfd5ef40f0a}} 
+\index{matrix.h@{matrix.h}!matrix\_part\_mul@{matrix\_part\_mul}}
+\index{matrix\_part\_mul@{matrix\_part\_mul}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_mul()}{matrix\_part\_mul()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a\+\_\+col\+\_\+num\+\_\+max,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}a\+\_\+col\+\_\+num\+\_\+max\mbox{]},  }\item[{uint8\+\_\+t}]{b\+\_\+col\+\_\+num\+\_\+max,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}b\+\_\+col\+\_\+num\+\_\+max\mbox{]},  }\item[{uint8\+\_\+t}]{a\+\_\+start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{a\+\_\+end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{a\+\_\+start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{a\+\_\+end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{b\+\_\+end\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{dest\+\_\+col\+\_\+size,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}dest\+\_\+col\+\_\+size\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the partial multiplication of two matrices. 
+
+Enables the calculation of matrix product of parts of two matrices.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a\+\_\+col\+\_\+num\+\_\+max} & column number of the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+col\+\_\+num\+\_\+max} & column number of the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+start\+\_\+row\+\_\+ind} & row begin of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+end\+\_\+row\+\_\+ind} & row end of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+start\+\_\+col\+\_\+ind} & column begin of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+end\+\_\+col\+\_\+ind} & column end of the first, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+start\+\_\+row\+\_\+ind} & row begin of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+end\+\_\+row\+\_\+ind} & row end of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+start\+\_\+col\+\_\+ind} & column begin of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+end\+\_\+col\+\_\+ind} & column end of the second, partial matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+col\+\_\+size} & column size of the destination matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 391 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a06f75ae4924e3f0dfd0b6a25313dc731}\label{matrix_8h_a06f75ae4924e3f0dfd0b6a25313dc731}} 
+\index{matrix.h@{matrix.h}!matrix\_part\_mul\_scalar\_vec\_matr@{matrix\_part\_mul\_scalar\_vec\_matr}}
+\index{matrix\_part\_mul\_scalar\_vec\_matr@{matrix\_part\_mul\_scalar\_vec\_matr}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_mul\_scalar\_vec\_matr()}{matrix\_part\_mul\_scalar\_vec\_matr()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+mul\+\_\+scalar\+\_\+vec\+\_\+matr (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{max\+\_\+m,  }\item[{uint8\+\_\+t}]{max\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{scalar,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}max\+\_\+m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}max\+\_\+m\mbox{]}\mbox{[}max\+\_\+n\mbox{]},  }\item[{uint8\+\_\+t}]{begin\+\_\+row,  }\item[{uint8\+\_\+t}]{begin\+\_\+column,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}max\+\_\+n -\/ begin\+\_\+row\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of a scalar with row vector and a sub-\/matrix. 
+
+Return scal$\ast$\+R1,m $\ast$ Am,n = R1,n, where scal is a scalar, R is a m-\/dimensional row vector, A is a (mxn)-\/matrix, and the result is a row vector of n-\/dimension.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em max\+\_\+m} & size of the row vector and row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scalar} & scalar value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em begin\+\_\+row} & start row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em begin\+\_\+column} & start column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination row vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 489 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_a72073ccd483f9cc438425d3d8ffd3029}\label{matrix_8h_a72073ccd483f9cc438425d3d8ffd3029}} 
+\index{matrix.h@{matrix.h}!matrix\_part\_print@{matrix\_part\_print}}
+\index{matrix\_part\_print@{matrix\_part\_print}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_print()}{matrix\_part\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{start\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+row\+\_\+ind,  }\item[{uint8\+\_\+t}]{start\+\_\+col\+\_\+ind,  }\item[{uint8\+\_\+t}]{end\+\_\+col\+\_\+ind }\end{DoxyParamCaption})}
+
+
+
+Display the values of the sub-\/matrix elements. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & total row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & total column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+row\+\_\+ind} & start row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+row\+\_\+ind} & end row number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em start\+\_\+col\+\_\+ind} & start column number of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em end\+\_\+col\+\_\+ind} & end column number of the sub-\/matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 164 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8h_a3570c016691507c003dd7a54cb37e7e2}\label{matrix_8h_a3570c016691507c003dd7a54cb37e7e2}} 
+\index{matrix.h@{matrix.h}!matrix\_part\_swap\_rows@{matrix\_part\_swap\_rows}}
+\index{matrix\_part\_swap\_rows@{matrix\_part\_swap\_rows}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_part\_swap\_rows()}{matrix\_part\_swap\_rows()}}
+{\footnotesize\ttfamily void matrix\+\_\+part\+\_\+swap\+\_\+rows (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j,  }\item[{uint8\+\_\+t}]{col\+\_\+begin,  }\item[{uint8\+\_\+t}]{col\+\_\+end }\end{DoxyParamCaption})}
+
+
+
+Swaps two rows of a sub-\/matrix. 
+
+Swaps the rows i and j of a part of a matrix.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the entire matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & the i-\/the row of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & the j-\/the row of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+begin} & the column begin of the sub-\/matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+end} & the column end of the sub-\/matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 736 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp().
+
+\mbox{\Hypertarget{matrix_8h_a32ab12965ec43c2acf65cf9dd510353a}\label{matrix_8h_a32ab12965ec43c2acf65cf9dd510353a}} 
+\index{matrix.h@{matrix.h}!matrix\_print@{matrix\_print}}
+\index{matrix\_print@{matrix\_print}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_print()}{matrix\_print()}}
+{\footnotesize\ttfamily void matrix\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Display the values of the matrix elements. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the entire matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 141 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), and svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s().
+
+\mbox{\Hypertarget{matrix_8h_a722a0230185fd66f0cecbeae7d50ce1a}\label{matrix_8h_a722a0230185fd66f0cecbeae7d50ce1a}} 
+\index{matrix.h@{matrix.h}!matrix\_read@{matrix\_read}}
+\index{matrix\_read@{matrix\_read}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_read()}{matrix\_read()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+read (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j }\end{DoxyParamCaption})}
+
+
+
+Get the value of a matrix at the position (i,j). 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & row number. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & column number.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the value of the matrix at the row i and column j. 
+\end{DoxyReturn}
+
+
+Definition at line 895 of file matrix.\+c.
+
+\mbox{\Hypertarget{matrix_8h_a49aa70a7d6ad76388ea08acfe43b7374}\label{matrix_8h_a49aa70a7d6ad76388ea08acfe43b7374}} 
+\index{matrix.h@{matrix.h}!matrix\_set\_diag\_elements@{matrix\_set\_diag\_elements}}
+\index{matrix\_set\_diag\_elements@{matrix\_set\_diag\_elements}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_set\_diag\_elements()}{matrix\_set\_diag\_elements()}}
+{\footnotesize\ttfamily void matrix\+\_\+set\+\_\+diag\+\_\+elements (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{value,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{diag\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Set all the diagonal elements of a matrix with a specified value. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em value} & value to be set. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em diag\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 565 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+diag\+\_\+mat().
+
+\mbox{\Hypertarget{matrix_8h_aed6fab1ffa40243eeb08117215082be3}\label{matrix_8h_aed6fab1ffa40243eeb08117215082be3}} 
+\index{matrix.h@{matrix.h}!matrix\_sub@{matrix\_sub}}
+\index{matrix\_sub@{matrix\_sub}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_sub()}{matrix\_sub()}}
+{\footnotesize\ttfamily void matrix\+\_\+sub (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+\_\+minus\+\_\+B\mbox{[}m\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the subtraction of two matrices. 
+
+Subtract matrix B from matrix A and return the result in A\+\_\+minus\+\_\+B matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to add. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the first matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the second matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em A\+\_\+minus\+\_\+\+B\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 329 of file matrix.\+c.
+
+
+
+Referenced by matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a875d6c55a16ee9f8bf523b8c1c82bc6f}\label{matrix_8h_a875d6c55a16ee9f8bf523b8c1c82bc6f}} 
+\index{matrix.h@{matrix.h}!matrix\_swap\_rows@{matrix\_swap\_rows}}
+\index{matrix\_swap\_rows@{matrix\_swap\_rows}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_swap\_rows()}{matrix\_swap\_rows()}}
+{\footnotesize\ttfamily void matrix\+\_\+swap\+\_\+rows (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j }\end{DoxyParamCaption})}
+
+
+
+Swaps two rows of a matrix. 
+
+Swaps the rows i and j of a matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & the i-\/the row of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & the j-\/the row of the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 725 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by lu\+\_\+decomp(), and matrix\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a0107887a6c40980fa639750be8262f01}\label{matrix_8h_a0107887a6c40980fa639750be8262f01}} 
+\index{matrix.h@{matrix.h}!matrix\_trans\_mul\_itself@{matrix\_trans\_mul\_itself}}
+\index{matrix\_trans\_mul\_itself@{matrix\_trans\_mul\_itself}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_trans\_mul\_itself()}{matrix\_trans\_mul\_itself()}}
+{\footnotesize\ttfamily void matrix\+\_\+trans\+\_\+mul\+\_\+itself (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+T\+\_\+mul\+\_\+A\mbox{[}n\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of the transpose of a matrix with itself. 
+
+Transpose the matrix A and multiply it with the matrix A\+: A\textquotesingle{}$\ast$A.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em A\+T\+\_\+mul\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix (A\textquotesingle{}$\ast$A). \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 545 of file matrix.\+c.
+
+
+
+References matrix\+\_\+get\+\_\+column\+\_\+vec(), and matrix\+\_\+t.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+T\+J(), modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), and opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction().
+
+\mbox{\Hypertarget{matrix_8h_a53b0a1829b2085414fb66a9e9bd6c7b7}\label{matrix_8h_a53b0a1829b2085414fb66a9e9bd6c7b7}} 
+\index{matrix.h@{matrix.h}!matrix\_trans\_mul\_vec@{matrix\_trans\_mul\_vec}}
+\index{matrix\_trans\_mul\_vec@{matrix\_trans\_mul\_vec}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_trans\_mul\_vec()}{matrix\_trans\_mul\_vec()}}
+{\footnotesize\ttfamily void matrix\+\_\+trans\+\_\+mul\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{b\+\_\+size,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+vec\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{c\+\_\+vec\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of transposed matrix with column vector. 
+
+Transpose A and return A\textquotesingle{}n,m $\ast$ Vm,1 = Bn,1, where A is a (mxn)-\/matrix, V is a m-\/dimensional column vector, and the result is a n-\/dimensional column vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to transpose and multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to transpose and multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+size} & size of the column vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the column vector of m-\/dimension. \\
+\hline
+\mbox{\texttt{ out}}  & {\em c\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination, column vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 511 of file matrix.\+c.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), solve\+\_\+givens(), and solve\+\_\+householder().
+
+\mbox{\Hypertarget{matrix_8h_ad7c9a682a3cc4ca33c030afa8798241a}\label{matrix_8h_ad7c9a682a3cc4ca33c030afa8798241a}} 
+\index{matrix.h@{matrix.h}!matrix\_transpose@{matrix\_transpose}}
+\index{matrix\_transpose@{matrix\_transpose}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_transpose()}{matrix\_transpose()}}
+{\footnotesize\ttfamily void matrix\+\_\+transpose (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{src\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dest\+\_\+matrix\mbox{[}n\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the transpose of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix to transpose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the destination matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 56 of file matrix.\+c.
+
+
+
+Referenced by get\+\_\+\+P\+D\+O\+P(), matrix\+\_\+test(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), and triangular\+\_\+matrices\+\_\+test().
+
+\mbox{\Hypertarget{matrix_8h_a3cf18a2c5c6ad62a4e0a0c00d27e2887}\label{matrix_8h_a3cf18a2c5c6ad62a4e0a0c00d27e2887}} 
+\index{matrix.h@{matrix.h}!matrix\_vec\_mul\_matr@{matrix\_vec\_mul\_matr}}
+\index{matrix\_vec\_mul\_matr@{matrix\_vec\_mul\_matr}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_vec\_mul\_matr()}{matrix\_vec\_mul\_matr()}}
+{\footnotesize\ttfamily void matrix\+\_\+vec\+\_\+mul\+\_\+matr (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vec\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dst\+\_\+arr\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of row vector and a matrix. 
+
+Return R1,m $\ast$ Am,n = R1,n, where R is a m-\/dimensional row vector, A is a (mxn)-\/matrix, and the result is a row vector of n-\/dimension.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & size of the row vector and row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the row vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+arr} & pointer to the destination row vector of n-\/dimension. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 452 of file matrix.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{matrix_8h_a90b6eafa665d34d7330581c32564d632}\label{matrix_8h_a90b6eafa665d34d7330581c32564d632}} 
+\index{matrix.h@{matrix.h}!matrix\_write@{matrix\_write}}
+\index{matrix\_write@{matrix\_write}!matrix.h@{matrix.h}}
+\doxysubsubsection{\texorpdfstring{matrix\_write()}{matrix\_write()}}
+{\footnotesize\ttfamily void matrix\+\_\+write (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i,  }\item[{uint8\+\_\+t}]{j,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{val }\end{DoxyParamCaption})}
+
+
+
+Write a value in a matrix at the position (i,j). 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ out}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & row number. \\
+\hline
+\mbox{\texttt{ in}}  & {\em j} & column number. \\
+\hline
+\mbox{\texttt{ in}}  & {\em val} & value to write in the matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 901 of file matrix.\+c.
+
diff --git a/doc/doxygen/latex/matrix__test_8c.tex b/doc/doxygen/latex/matrix__test_8c.tex
new file mode 100644
index 0000000..8f464b8
--- /dev/null
+++ b/doc/doxygen/latex/matrix__test_8c.tex
@@ -0,0 +1,35 @@
+\hypertarget{matrix__test_8c}{}\doxysection{matrix\+\_\+test.\+c File Reference}
+\label{matrix__test_8c}\index{matrix\_test.c@{matrix\_test.c}}
+
+
+Examples of matrix computations.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{matrix__test_8c_aad3d0f4acb79e8a9b61eda59dc3a12b2}\label{matrix__test_8c_aad3d0f4acb79e8a9b61eda59dc3a12b2}} 
+void \mbox{\hyperlink{matrix__test_8c_aad3d0f4acb79e8a9b61eda59dc3a12b2}{matrix\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Test some matrix operations. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{matrix__test_8c_a5713bd664a96ccd028896420050f22df}\label{matrix__test_8c_a5713bd664a96ccd028896420050f22df}} 
+void \mbox{\hyperlink{matrix__test_8c_a5713bd664a96ccd028896420050f22df}{inv\+\_\+triangular\+\_\+matrices\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the inverse of triangular matrices. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{matrix__test_8c_af3bd1663337eb8dbe0fbcb49b517621f}\label{matrix__test_8c_af3bd1663337eb8dbe0fbcb49b517621f}} 
+void \mbox{\hyperlink{matrix__test_8c_af3bd1663337eb8dbe0fbcb49b517621f}{triangular\+\_\+matrices\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of triangular matrices. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of matrix computations. 
+
+Matrix computation examples of the (see \mbox{\hyperlink{matrix_8h}{matrix}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/matrix__test_8h.tex b/doc/doxygen/latex/matrix__test_8h.tex
new file mode 100644
index 0000000..290d29f
--- /dev/null
+++ b/doc/doxygen/latex/matrix__test_8h.tex
@@ -0,0 +1,29 @@
+\hypertarget{matrix__test_8h}{}\doxysection{matrix\+\_\+test.\+h File Reference}
+\label{matrix__test_8h}\index{matrix\_test.h@{matrix\_test.h}}
+
+
+Examples of matrix computations.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{matrix__test_8h_aad3d0f4acb79e8a9b61eda59dc3a12b2}\label{matrix__test_8h_aad3d0f4acb79e8a9b61eda59dc3a12b2}} 
+void \mbox{\hyperlink{matrix__test_8h_aad3d0f4acb79e8a9b61eda59dc3a12b2}{matrix\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Test some matrix operations. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{matrix__test_8h_a5713bd664a96ccd028896420050f22df}\label{matrix__test_8h_a5713bd664a96ccd028896420050f22df}} 
+void \mbox{\hyperlink{matrix__test_8h_a5713bd664a96ccd028896420050f22df}{inv\+\_\+triangular\+\_\+matrices\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the inverse of triangular matrices. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{matrix__test_8h_af3bd1663337eb8dbe0fbcb49b517621f}\label{matrix__test_8h_af3bd1663337eb8dbe0fbcb49b517621f}} 
+void \mbox{\hyperlink{matrix__test_8h_af3bd1663337eb8dbe0fbcb49b517621f}{triangular\+\_\+matrices\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of triangular matrices. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of matrix computations. 
+
+Matrix computation examples (see \mbox{\hyperlink{matrix_8h}{matrix}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/modified__gauss__newton_8c.tex b/doc/doxygen/latex/modified__gauss__newton_8c.tex
new file mode 100644
index 0000000..9ace588
--- /dev/null
+++ b/doc/doxygen/latex/modified__gauss__newton_8c.tex
@@ -0,0 +1,87 @@
+\hypertarget{modified__gauss__newton_8c}{}\doxysection{modified\+\_\+gauss\+\_\+newton.\+c File Reference}
+\label{modified__gauss__newton_8c}\index{modified\_gauss\_newton.c@{modified\_gauss\_newton.c}}
+
+
+Implement the Gauss--Newton algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{modified__gauss__newton_8c_a7376799043ad2c27fac02371624051bc}{modified\+\_\+gauss\+\_\+newton}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} fmin, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]}, void($\ast$get\+\_\+f\+\_\+error)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the modified Gauss--Newton algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Gauss--Newton algorithm. 
+
+\begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{modified__gauss__newton_8c_a7376799043ad2c27fac02371624051bc}\label{modified__gauss__newton_8c_a7376799043ad2c27fac02371624051bc}} 
+\index{modified\_gauss\_newton.c@{modified\_gauss\_newton.c}!modified\_gauss\_newton@{modified\_gauss\_newton}}
+\index{modified\_gauss\_newton@{modified\_gauss\_newton}!modified\_gauss\_newton.c@{modified\_gauss\_newton.c}}
+\doxysubsubsection{\texorpdfstring{modified\_gauss\_newton()}{modified\_gauss\_newton()}}
+{\footnotesize\ttfamily uint8\+\_\+t modified\+\_\+gauss\+\_\+newton (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{fmin,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+f\+\_\+error,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the modified Gauss--Newton algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em fmin} & termination tolerance on the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the Gauss--Newton algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+vec\mbox{[}$\,$\mbox{]}} & estimated (optimized) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+f\+\_\+error)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 32 of file modified\+\_\+gauss\+\_\+newton.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+itself(), matrix\+\_\+trans\+\_\+mul\+\_\+vec(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), utils\+\_\+max(), vector\+\_\+copy(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+norm2(), vector\+\_\+sub(), and vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+exponential\+\_\+data\+\_\+test(), optimization\+\_\+sinusoidal\+\_\+data\+\_\+test(), and optimization\+\_\+test().
+
diff --git a/doc/doxygen/latex/modified__gauss__newton_8h.tex b/doc/doxygen/latex/modified__gauss__newton_8h.tex
new file mode 100644
index 0000000..b25acbe
--- /dev/null
+++ b/doc/doxygen/latex/modified__gauss__newton_8h.tex
@@ -0,0 +1,82 @@
+\hypertarget{modified__gauss__newton_8h}{}\doxysection{modified\+\_\+gauss\+\_\+newton.\+h File Reference}
+\label{modified__gauss__newton_8h}\index{modified\_gauss\_newton.h@{modified\_gauss\_newton.h}}
+
+
+Implement the Gauss--Newton algorithm.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{modified__gauss__newton_8h_a7376799043ad2c27fac02371624051bc}{modified\+\_\+gauss\+\_\+newton}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} eps, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} fmin, uint8\+\_\+t max\+\_\+iter\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]}, void($\ast$get\+\_\+f\+\_\+error)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the modified Gauss--Newton algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Gauss--Newton algorithm. 
+
+\begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{modified__gauss__newton_8h_a7376799043ad2c27fac02371624051bc}\label{modified__gauss__newton_8h_a7376799043ad2c27fac02371624051bc}} 
+\index{modified\_gauss\_newton.h@{modified\_gauss\_newton.h}!modified\_gauss\_newton@{modified\_gauss\_newton}}
+\index{modified\_gauss\_newton@{modified\_gauss\_newton}!modified\_gauss\_newton.h@{modified\_gauss\_newton.h}}
+\doxysubsubsection{\texorpdfstring{modified\_gauss\_newton()}{modified\_gauss\_newton()}}
+{\footnotesize\ttfamily uint8\+\_\+t modified\+\_\+gauss\+\_\+newton (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}f\+\_\+length\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{eps,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{fmin,  }\item[{uint8\+\_\+t}]{max\+\_\+iter\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+vec\mbox{[}n\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+f\+\_\+error,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the modified Gauss--Newton algorithm. 
+
+The user should provide pointers to the error and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em fmin} & termination tolerance on the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+iter\+\_\+num} & maximal iteration number of the Gauss--Newton algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+vec\mbox{[}$\,$\mbox{]}} & estimated (optimized) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+f\+\_\+error)} & pointer to the error function. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 32 of file modified\+\_\+gauss\+\_\+newton.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+itself(), matrix\+\_\+trans\+\_\+mul\+\_\+vec(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), utils\+\_\+max(), vector\+\_\+copy(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+norm2(), vector\+\_\+sub(), and vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+exponential\+\_\+data\+\_\+test(), optimization\+\_\+sinusoidal\+\_\+data\+\_\+test(), and optimization\+\_\+test().
+
diff --git a/doc/doxygen/latex/modules.tex b/doc/doxygen/latex/modules.tex
new file mode 100644
index 0000000..d2d1be9
--- /dev/null
+++ b/doc/doxygen/latex/modules.tex
@@ -0,0 +1,27 @@
+\doxysection{Modules}
+Here is a list of all modules\+:\begin{DoxyCompactList}
+\item \contentsline{section}{E\+X\+A\+M\+P\+L\+ES}{\pageref{group__examples}}{}
+\item \contentsline{section}{L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}{\pageref{group__linear__algebra}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{B\+A\+S\+I\+C\+\_\+\+O\+P\+E\+R\+A\+T\+I\+O\+NS}{\pageref{group__basic__operations}}{}
+\item \contentsline{section}{M\+A\+T\+R\+I\+X\+\_\+\+D\+E\+C\+O\+M\+P\+O\+S\+I\+T\+I\+O\+NS}{\pageref{group__matrix__decompositions}}{}
+\item \contentsline{section}{P\+S\+E\+U\+D\+O\+\_\+\+I\+N\+V\+E\+R\+SE}{\pageref{group__pseudo__inverse}}{}
+\item \contentsline{section}{S\+O\+L\+V\+E\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+E\+Q\+U\+A\+T\+I\+O\+NS}{\pageref{group__solve__linear__equations}}{}
+\item \contentsline{section}{U\+T\+I\+L\+I\+T\+I\+ES}{\pageref{group__utilities}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{L\+O\+C\+A\+L\+I\+Z\+A\+T\+I\+ON}{\pageref{group__localization}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{P\+O\+S\+I\+T\+I\+O\+N\+\_\+\+A\+L\+G\+OS}{\pageref{group__position__algos}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{D\+I\+S\+T\+A\+N\+C\+E\+\_\+\+B\+A\+S\+ED}{\pageref{group__distance__based}}{}
+\item \contentsline{section}{M\+A\+G\+N\+E\+T\+I\+C\+\_\+\+B\+A\+S\+ED}{\pageref{group__magnetic__based}}{}
+\item \contentsline{section}{P\+O\+S\+\_\+\+A\+L\+G\+O\+S\+\_\+\+C\+O\+M\+M\+ON}{\pageref{group__pos__algos__common}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{P\+O\+S\+I\+T\+I\+O\+N\+\_\+\+O\+P\+T\+I\+M\+I\+Z\+A\+T\+I\+ON}{\pageref{group__position__optimization}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+A\+L\+G\+E\+B\+RA}{\pageref{group__non__linear__algebra}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{O\+P\+T\+I\+M\+I\+Z\+A\+T\+I\+ON}{\pageref{group__optimization}}{}
+\item \contentsline{section}{S\+O\+L\+V\+E\+\_\+\+N\+O\+N\+\_\+\+L\+I\+N\+E\+A\+R\+\_\+\+E\+Q\+U\+A\+T\+I\+O\+NS}{\pageref{group__solve__non__linear__equations}}{}
+\end{DoxyCompactList}
+\end{DoxyCompactList}
diff --git a/doc/doxygen/latex/moore__penrose__pinv__test_8c.tex b/doc/doxygen/latex/moore__penrose__pinv__test_8c.tex
new file mode 100644
index 0000000..d22ca6e
--- /dev/null
+++ b/doc/doxygen/latex/moore__penrose__pinv__test_8c.tex
@@ -0,0 +1,27 @@
+\hypertarget{moore__penrose__pinv__test_8c}{}\doxysection{moore\+\_\+penrose\+\_\+pinv\+\_\+test.\+c File Reference}
+\label{moore__penrose__pinv__test_8c}\index{moore\_penrose\_pinv\_test.c@{moore\_penrose\_pinv\_test.c}}
+
+
+Examples of the Moore--Penrose algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{moore__penrose__pinv__test_8c_a71ea6881aeb228d371528527d1974014}\label{moore__penrose__pinv__test_8c_a71ea6881aeb228d371528527d1974014}} 
+void \mbox{\hyperlink{moore__penrose__pinv__test_8c_a71ea6881aeb228d371528527d1974014}{moore\+\_\+penrose\+\_\+pinv\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Moore--Penrose algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Moore--Penrose algorithm. 
+
+Moore--Penrose algorithm examples (see the \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h}{Moore-\/-\/\+Penrose}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/moore__penrose__pinv__test_8h.tex b/doc/doxygen/latex/moore__penrose__pinv__test_8h.tex
new file mode 100644
index 0000000..e954af9
--- /dev/null
+++ b/doc/doxygen/latex/moore__penrose__pinv__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{moore__penrose__pinv__test_8h}{}\doxysection{moore\+\_\+penrose\+\_\+pinv\+\_\+test.\+h File Reference}
+\label{moore__penrose__pinv__test_8h}\index{moore\_penrose\_pinv\_test.h@{moore\_penrose\_pinv\_test.h}}
+
+
+Examples of the Moore--Penrose algorithm.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{moore__penrose__pinv__test_8h_a71ea6881aeb228d371528527d1974014}\label{moore__penrose__pinv__test_8h_a71ea6881aeb228d371528527d1974014}} 
+void \mbox{\hyperlink{moore__penrose__pinv__test_8h_a71ea6881aeb228d371528527d1974014}{moore\+\_\+penrose\+\_\+pinv\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Moore--Penrose algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Moore--Penrose algorithm. 
+
+Moore--Penrose algorithm examples (see the \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h}{Moore-\/-\/\+Penrose}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/moore__penrose__pseudo__inverse_8c.tex b/doc/doxygen/latex/moore__penrose__pseudo__inverse_8c.tex
new file mode 100644
index 0000000..6002fde
--- /dev/null
+++ b/doc/doxygen/latex/moore__penrose__pseudo__inverse_8c.tex
@@ -0,0 +1,110 @@
+\hypertarget{moore__penrose__pseudo__inverse_8c}{}\doxysection{moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+c File Reference}
+\label{moore__penrose__pseudo__inverse_8c}\index{moore\_penrose\_pseudo\_inverse.c@{moore\_penrose\_pseudo\_inverse.c}}
+
+
+Moore--Penrose algorithm to compute the pseudo-\/inverse of a rectangular matrix.  
+
+
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}svd.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{moore__penrose__pseudo__inverse_8c_a0ddd46446f074a0d38c04157686f5fce}{moore\+\_\+penrose\+\_\+get\+\_\+pinv}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the Moore--Penrose inverse of a rectangular matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{moore__penrose__pseudo__inverse_8c_ada5b18da23c06c1a6f2449bbfe97a7c9}{moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i)
+\begin{DoxyCompactList}\small\item\em Compute and print the Moore--Penrose inverse of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Moore--Penrose algorithm to compute the pseudo-\/inverse of a rectangular matrix. 
+
+The computation of the pseudo-\/inverse is based on the Singular Value Decomposition (S\+VD).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8c_a0ddd46446f074a0d38c04157686f5fce}\label{moore__penrose__pseudo__inverse_8c_a0ddd46446f074a0d38c04157686f5fce}} 
+\index{moore\_penrose\_pseudo\_inverse.c@{moore\_penrose\_pseudo\_inverse.c}!moore\_penrose\_get\_pinv@{moore\_penrose\_get\_pinv}}
+\index{moore\_penrose\_get\_pinv@{moore\_penrose\_get\_pinv}!moore\_penrose\_pseudo\_inverse.c@{moore\_penrose\_pseudo\_inverse.c}}
+\doxysubsubsection{\texorpdfstring{moore\_penrose\_get\_pinv()}{moore\_penrose\_get\_pinv()}}
+{\footnotesize\ttfamily int8\+\_\+t moore\+\_\+penrose\+\_\+get\+\_\+pinv (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the Moore--Penrose inverse of a rectangular matrix. 
+
+The computation of the Moore--Penrose inverse is based on the Golub--Kahan--Reinsch S\+VD algorithm.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ out}}  & {\em pinv\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pseudo-\/inverse matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if the computation of the Moore-\/\+Penrose inverse is successful. 
+
+-\/1, if the maximal, allowed column or row number is exceeded. 
+
+-\/2, if the matrix is underdetermined (m$<$n). 
+
+-\/3, if the rank of the matrix is equal to 0. 
+\end{DoxyReturn}
+
+
+Definition at line 38 of file moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+t, matrix\+\_\+transpose(), matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), and svd\+\_\+get\+\_\+\+U\+\_\+dim().
+
+
+
+Referenced by get\+\_\+delta\+\_\+x(), get\+\_\+\+P\+D\+O\+P(), loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print(), newton\+\_\+raphson(), solve(), trilateration2(), and trilateration\+\_\+get\+\_\+particular\+\_\+solution().
+
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8c_ada5b18da23c06c1a6f2449bbfe97a7c9}\label{moore__penrose__pseudo__inverse_8c_ada5b18da23c06c1a6f2449bbfe97a7c9}} 
+\index{moore\_penrose\_pseudo\_inverse.c@{moore\_penrose\_pseudo\_inverse.c}!moore\_penrose\_pinv\_compute\_print@{moore\_penrose\_pinv\_compute\_print}}
+\index{moore\_penrose\_pinv\_compute\_print@{moore\_penrose\_pinv\_compute\_print}!moore\_penrose\_pseudo\_inverse.c@{moore\_penrose\_pseudo\_inverse.c}}
+\doxysubsubsection{\texorpdfstring{moore\_penrose\_pinv\_compute\_print()}{moore\_penrose\_pinv\_compute\_print()}}
+{\footnotesize\ttfamily void moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i }\end{DoxyParamCaption})}
+
+
+
+Compute and print the Moore--Penrose inverse of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & label. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 167 of file moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+c.
+
+
+
+References matrix\+\_\+flex\+\_\+print(), matrix\+\_\+t, and moore\+\_\+penrose\+\_\+get\+\_\+pinv().
+
+
+
+Referenced by moore\+\_\+penrose\+\_\+pinv\+\_\+test().
+
diff --git a/doc/doxygen/latex/moore__penrose__pseudo__inverse_8h.tex b/doc/doxygen/latex/moore__penrose__pseudo__inverse_8h.tex
new file mode 100644
index 0000000..d3ad733
--- /dev/null
+++ b/doc/doxygen/latex/moore__penrose__pseudo__inverse_8h.tex
@@ -0,0 +1,126 @@
+\hypertarget{moore__penrose__pseudo__inverse_8h}{}\doxysection{moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h File Reference}
+\label{moore__penrose__pseudo__inverse_8h}\index{moore\_penrose\_pseudo\_inverse.h@{moore\_penrose\_pseudo\_inverse.h}}
+
+
+Moore--Penrose algorithm to compute the pseudo-\/inverse of a matrix.  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_a08c63915b31bfeb8d6256981f71b3746}\label{moore__penrose__pseudo__inverse_8h_a08c63915b31bfeb8d6256981f71b3746}} 
+\#define \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_a08c63915b31bfeb8d6256981f71b3746}{M\+A\+X\+\_\+\+R\+O\+W\+\_\+\+N\+UM}}~23
+\begin{DoxyCompactList}\small\item\em The maximal row number allowed. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_ad174a66874978917203ae18e88d263af}\label{moore__penrose__pseudo__inverse_8h_ad174a66874978917203ae18e88d263af}} 
+\#define \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_ad174a66874978917203ae18e88d263af}{M\+A\+X\+\_\+\+C\+O\+L\+\_\+\+N\+UM}}~23
+\begin{DoxyCompactList}\small\item\em The maximal column number allowed. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_ae65d746cc90c1447fe1651614fde76eb}\label{moore__penrose__pseudo__inverse_8h_ae65d746cc90c1447fe1651614fde76eb}} 
+\#define \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_ae65d746cc90c1447fe1651614fde76eb}{M\+O\+O\+R\+E\+\_\+\+P\+E\+N\+R\+O\+S\+E\+\_\+\+P\+S\+E\+U\+D\+O\+\_\+\+C\+O\+M\+P\+\_\+\+S\+U\+C\+C\+E\+SS}}~1
+\begin{DoxyCompactList}\small\item\em The Moore--Penrose inverse is successfully completed. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_a4b5bc244bcae0f030336269904158df1}\label{moore__penrose__pseudo__inverse_8h_a4b5bc244bcae0f030336269904158df1}} 
+\#define \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_a4b5bc244bcae0f030336269904158df1}{M\+O\+O\+R\+E\+\_\+\+P\+E\+N\+R\+O\+S\+E\+\_\+\+P\+S\+E\+U\+D\+O\+\_\+\+M\+A\+X\+\_\+\+A\+L\+L\+O\+W\+\_\+\+R\+O\+W\+\_\+\+C\+O\+L\+\_\+\+E\+X\+C\+E\+E\+ED}}~-\/1
+\begin{DoxyCompactList}\small\item\em The maximal row number allowed is exceeded. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_aa41b1dd19931edcc50247511f12859e4}\label{moore__penrose__pseudo__inverse_8h_aa41b1dd19931edcc50247511f12859e4}} 
+\#define \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_aa41b1dd19931edcc50247511f12859e4}{M\+O\+O\+R\+E\+\_\+\+P\+E\+N\+R\+O\+S\+E\+\_\+\+P\+S\+E\+U\+D\+O\+\_\+\+G\+I\+V\+E\+\_\+\+M\+A\+T\+R\+I\+X\+\_\+\+T\+R\+A\+N\+S\+P\+O\+SE}}~-\/2
+\begin{DoxyCompactList}\small\item\em The transposed matrix should be delivered. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_a068a278115f777cb1b92107e5c88c68e}\label{moore__penrose__pseudo__inverse_8h_a068a278115f777cb1b92107e5c88c68e}} 
+\#define \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_a068a278115f777cb1b92107e5c88c68e}{M\+O\+O\+R\+E\+\_\+\+P\+E\+N\+R\+O\+S\+E\+\_\+\+I\+N\+V\+A\+L\+I\+D\+\_\+\+R\+A\+N\+K\+\_\+\+V\+A\+L\+UE}}~-\/3
+\begin{DoxyCompactList}\small\item\em Invalid rank value of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_a0ddd46446f074a0d38c04157686f5fce}{moore\+\_\+penrose\+\_\+get\+\_\+pinv}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the Moore--Penrose inverse of a rectangular matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{moore__penrose__pseudo__inverse_8h_ada5b18da23c06c1a6f2449bbfe97a7c9}{moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i)
+\begin{DoxyCompactList}\small\item\em Compute and print the Moore--Penrose inverse of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Moore--Penrose algorithm to compute the pseudo-\/inverse of a matrix. 
+
+The computation of the pseudo-\/inverse is based on the Singular Value Decomposition (S\+VD).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_a0ddd46446f074a0d38c04157686f5fce}\label{moore__penrose__pseudo__inverse_8h_a0ddd46446f074a0d38c04157686f5fce}} 
+\index{moore\_penrose\_pseudo\_inverse.h@{moore\_penrose\_pseudo\_inverse.h}!moore\_penrose\_get\_pinv@{moore\_penrose\_get\_pinv}}
+\index{moore\_penrose\_get\_pinv@{moore\_penrose\_get\_pinv}!moore\_penrose\_pseudo\_inverse.h@{moore\_penrose\_pseudo\_inverse.h}}
+\doxysubsubsection{\texorpdfstring{moore\_penrose\_get\_pinv()}{moore\_penrose\_get\_pinv()}}
+{\footnotesize\ttfamily int8\+\_\+t moore\+\_\+penrose\+\_\+get\+\_\+pinv (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the Moore--Penrose inverse of a rectangular matrix. 
+
+The computation of the Moore--Penrose inverse is based on the Golub--Kahan--Reinsch S\+VD algorithm.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ out}}  & {\em pinv\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pseudo-\/inverse matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if the computation of the Moore-\/\+Penrose inverse is successful. 
+
+-\/1, if the maximal, allowed column or row number is exceeded. 
+
+-\/2, if the matrix is underdetermined (m$<$n). 
+
+-\/3, if the rank of the matrix is equal to 0. 
+\end{DoxyReturn}
+
+
+Definition at line 38 of file moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+t, matrix\+\_\+transpose(), matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), and svd\+\_\+get\+\_\+\+U\+\_\+dim().
+
+
+
+Referenced by get\+\_\+delta\+\_\+x(), get\+\_\+\+P\+D\+O\+P(), loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print(), newton\+\_\+raphson(), solve(), trilateration2(), and trilateration\+\_\+get\+\_\+particular\+\_\+solution().
+
+\mbox{\Hypertarget{moore__penrose__pseudo__inverse_8h_ada5b18da23c06c1a6f2449bbfe97a7c9}\label{moore__penrose__pseudo__inverse_8h_ada5b18da23c06c1a6f2449bbfe97a7c9}} 
+\index{moore\_penrose\_pseudo\_inverse.h@{moore\_penrose\_pseudo\_inverse.h}!moore\_penrose\_pinv\_compute\_print@{moore\_penrose\_pinv\_compute\_print}}
+\index{moore\_penrose\_pinv\_compute\_print@{moore\_penrose\_pinv\_compute\_print}!moore\_penrose\_pseudo\_inverse.h@{moore\_penrose\_pseudo\_inverse.h}}
+\doxysubsubsection{\texorpdfstring{moore\_penrose\_pinv\_compute\_print()}{moore\_penrose\_pinv\_compute\_print()}}
+{\footnotesize\ttfamily void moore\+\_\+penrose\+\_\+pinv\+\_\+compute\+\_\+print (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i }\end{DoxyParamCaption})}
+
+
+
+Compute and print the Moore--Penrose inverse of a matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & label. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 167 of file moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+c.
+
+
+
+References matrix\+\_\+flex\+\_\+print(), matrix\+\_\+t, and moore\+\_\+penrose\+\_\+get\+\_\+pinv().
+
+
+
+Referenced by moore\+\_\+penrose\+\_\+pinv\+\_\+test().
+
diff --git a/doc/doxygen/latex/multipath__algo__own__norm__distr__test_8c.tex b/doc/doxygen/latex/multipath__algo__own__norm__distr__test_8c.tex
new file mode 100644
index 0000000..a1053f5
--- /dev/null
+++ b/doc/doxygen/latex/multipath__algo__own__norm__distr__test_8c.tex
@@ -0,0 +1,37 @@
+\hypertarget{multipath__algo__own__norm__distr__test_8c}{}\doxysection{multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test.\+c File Reference}
+\label{multipath__algo__own__norm__distr__test_8c}\index{multipath\_algo\_own\_norm\_distr\_test.c@{multipath\_algo\_own\_norm\_distr\_test.c}}
+
+
+Example of the algorithm for the recognition and mitigation of multipath effects.  
+
+
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$unistd.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}loc\+\_\+levenberg\+\_\+marquardt.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+jacobian.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+fi.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}shell\+\_\+sort.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}D\+O\+P.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{multipath__algo__own__norm__distr__test_8c_a557f81ea2791d07f6341dc44b0f169dd}\label{multipath__algo__own__norm__distr__test_8c_a557f81ea2791d07f6341dc44b0f169dd}} 
+void \mbox{\hyperlink{multipath__algo__own__norm__distr__test_8c_a557f81ea2791d07f6341dc44b0f169dd}{multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of the algorithm for the recognition and mitigation of multipath effects. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Example of the algorithm for the recognition and mitigation of multipath effects. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/multipath__algo__own__norm__distr__test_8h.tex b/doc/doxygen/latex/multipath__algo__own__norm__distr__test_8h.tex
new file mode 100644
index 0000000..c32e8a3
--- /dev/null
+++ b/doc/doxygen/latex/multipath__algo__own__norm__distr__test_8h.tex
@@ -0,0 +1,25 @@
+\hypertarget{multipath__algo__own__norm__distr__test_8h}{}\doxysection{multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test.\+h File Reference}
+\label{multipath__algo__own__norm__distr__test_8h}\index{multipath\_algo\_own\_norm\_distr\_test.h@{multipath\_algo\_own\_norm\_distr\_test.h}}
+
+
+Example of the algorithm for the recognition and mitigation of multipath effects.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{multipath__algo__own__norm__distr__test_8h_a557f81ea2791d07f6341dc44b0f169dd}\label{multipath__algo__own__norm__distr__test_8h_a557f81ea2791d07f6341dc44b0f169dd}} 
+void \mbox{\hyperlink{multipath__algo__own__norm__distr__test_8h_a557f81ea2791d07f6341dc44b0f169dd}{multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of the algorithm for the recognition and mitigation of multipath effects. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Example of the algorithm for the recognition and mitigation of multipath effects. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/multipath__dist__detection__mitigation_8c.tex b/doc/doxygen/latex/multipath__dist__detection__mitigation_8c.tex
new file mode 100644
index 0000000..9c78991
--- /dev/null
+++ b/doc/doxygen/latex/multipath__dist__detection__mitigation_8c.tex
@@ -0,0 +1,292 @@
+\hypertarget{multipath__dist__detection__mitigation_8c}{}\doxysection{multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c File Reference}
+\label{multipath__dist__detection__mitigation_8c}\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+
+
+Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include $<$stdlib.\+h$>$}\newline
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}combinatorics.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}shell\+\_\+sort.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+position.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}D\+O\+P.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}trilateration.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{multipath__dist__detection__mitigation_8c_a38019260396a33562d5a1912c691c26a}{get\+\_\+exact\+\_\+distance\+\_\+to\+\_\+anchor}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}$\,$\mbox{]}, uint32\+\_\+t exact\+\_\+point\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the exact distance between a mobile station and a reference station. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{multipath__dist__detection__mitigation_8c_a5609107d45b6abfa6614fc79c56273c8}{is\+\_\+member}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vector, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} multipath\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine if a candidate is a multipath or not. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{multipath__dist__detection__mitigation_8c_a944bb181ffe0b3abc69e345ae88fbfc1}{is\+\_\+anchor}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+matr\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, uint32\+\_\+t point\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine if a point is an anchor or not. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8c_a2776d1c18727f8feb5f0a83a6963e957}{sim\+\_\+\+U\+W\+B\+\_\+dist}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, uint32\+\_\+t exact\+\_\+point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} sigma, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} multipath\mbox{[}n\mbox{]}, int seed, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Simulate an U\+W\+B-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8c_a6530e8d8955c511d3452748fec987a39}{get\+\_\+optimal\+\_\+partial\+\_\+ref\+\_\+matrix}} (uint8\+\_\+t anchors\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+matrix\mbox{[}anchors\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, uint8\+\_\+t k, uint8\+\_\+t optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} opt\+\_\+partial\+\_\+ref\+\_\+matrix\mbox{[}k\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the optimal partial matrix including reference points. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8c_a540837de8e8a9d4e5dbaac1814b19b5e}{get\+\_\+optimal\+\_\+partial\+\_\+r\+\_\+noised\+\_\+vec}} (uint8\+\_\+t k, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}, uint8\+\_\+t optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} opt\+\_\+sub\+\_\+r\+\_\+noised\+\_\+vec\mbox{[}k\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute noised distances corresponding to the optimal partial matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8c_a8cce1ff9263404ca1e58d67910f38d47}{recog\+\_\+mitigate\+\_\+multipath}} (uint8\+\_\+t k, uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} noised\+\_\+r\+\_\+vec\mbox{[}m\mbox{]}, uint8\+\_\+t anchors\+\_\+optimal\+\_\+combi\mbox{[}k\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} start\+\_\+optimal\+\_\+pos\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8c_a38019260396a33562d5a1912c691c26a}\label{multipath__dist__detection__mitigation_8c_a38019260396a33562d5a1912c691c26a}} 
+\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}!get\_exact\_distance\_to\_anchor@{get\_exact\_distance\_to\_anchor}}
+\index{get\_exact\_distance\_to\_anchor@{get\_exact\_distance\_to\_anchor}!multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+\doxysubsubsection{\texorpdfstring{get\_exact\_distance\_to\_anchor()}{get\_exact\_distance\_to\_anchor()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} get\+\_\+exact\+\_\+distance\+\_\+to\+\_\+anchor (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}$\,$\mbox{]},  }\item[{uint32\+\_\+t}]{exact\+\_\+point\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the exact distance between a mobile station and a reference station. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point} & three-\/dimensional coordinates of a reference station. \\
+\hline
+\mbox{\texttt{ in}}  & {\em exact\+\_\+point} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the exact distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 42 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by sim\+\_\+\+U\+W\+B\+\_\+dist().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8c_a540837de8e8a9d4e5dbaac1814b19b5e}\label{multipath__dist__detection__mitigation_8c_a540837de8e8a9d4e5dbaac1814b19b5e}} 
+\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}!get\_optimal\_partial\_r\_noised\_vec@{get\_optimal\_partial\_r\_noised\_vec}}
+\index{get\_optimal\_partial\_r\_noised\_vec@{get\_optimal\_partial\_r\_noised\_vec}!multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+\doxysubsubsection{\texorpdfstring{get\_optimal\_partial\_r\_noised\_vec()}{get\_optimal\_partial\_r\_noised\_vec()}}
+{\footnotesize\ttfamily void get\+\_\+optimal\+\_\+partial\+\_\+r\+\_\+noised\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{k,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{opt\+\_\+sub\+\_\+r\+\_\+noised\+\_\+vec\mbox{[}k\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute noised distances corresponding to the optimal partial matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em k} & k anchors (possible sub-\/experiments). \\
+\hline
+\mbox{\texttt{ in}}  & {\em r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}} & include noised distances. \\
+\hline
+\mbox{\texttt{ in}}  & {\em optimal\+\_\+anchors\+\_\+comb\mbox{[}$\,$\mbox{]}} & optimal k-\/anchor combination. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em opt\+\_\+sub\+\_\+r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & noised distances corresponding to the optimal k-\/anchors. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 123 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8c_a6530e8d8955c511d3452748fec987a39}\label{multipath__dist__detection__mitigation_8c_a6530e8d8955c511d3452748fec987a39}} 
+\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}!get\_optimal\_partial\_ref\_matrix@{get\_optimal\_partial\_ref\_matrix}}
+\index{get\_optimal\_partial\_ref\_matrix@{get\_optimal\_partial\_ref\_matrix}!multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+\doxysubsubsection{\texorpdfstring{get\_optimal\_partial\_ref\_matrix()}{get\_optimal\_partial\_ref\_matrix()}}
+{\footnotesize\ttfamily void get\+\_\+optimal\+\_\+partial\+\_\+ref\+\_\+matrix (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchors\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+matrix\mbox{[}anchors\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{opt\+\_\+partial\+\_\+ref\+\_\+matrix\mbox{[}k\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the optimal partial matrix including reference points. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchors\+\_\+num} & number of the reference points. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & k anchors (possible sub-\/experiments). \\
+\hline
+\mbox{\texttt{ in}}  & {\em optimal\+\_\+anchors\+\_\+comb\mbox{[}$\,$\mbox{]}} & optimal anchor combination. \\
+\hline
+\mbox{\texttt{ out}}  & {\em opt\+\_\+partial\+\_\+ref\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & optimal partial matrix of anchors. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 108 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8c_a944bb181ffe0b3abc69e345ae88fbfc1}\label{multipath__dist__detection__mitigation_8c_a944bb181ffe0b3abc69e345ae88fbfc1}} 
+\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}!is\_anchor@{is\_anchor}}
+\index{is\_anchor@{is\_anchor}!multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+\doxysubsubsection{\texorpdfstring{is\_anchor()}{is\_anchor()}}
+{\footnotesize\ttfamily bool is\+\_\+anchor (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+matr\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{uint32\+\_\+t}]{point\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine if a point is an anchor or not. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference points. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+matr\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a point.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if a point is an anchor. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 65 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8c_a5609107d45b6abfa6614fc79c56273c8}\label{multipath__dist__detection__mitigation_8c_a5609107d45b6abfa6614fc79c56273c8}} 
+\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}!is\_member@{is\_member}}
+\index{is\_member@{is\_member}!multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+\doxysubsubsection{\texorpdfstring{is\_member()}{is\_member()}}
+{\footnotesize\ttfamily bool is\+\_\+member (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vector,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{multipath\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine if a candidate is a multipath or not. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em vector} & a candidate. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & size of the multipath-\/vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em multipath\mbox{[}$\,$\mbox{]}} & pointer to the multipath-\/vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if a candidate is a multipath. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 55 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by sim\+\_\+\+U\+W\+B\+\_\+dist().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8c_a8cce1ff9263404ca1e58d67910f38d47}\label{multipath__dist__detection__mitigation_8c_a8cce1ff9263404ca1e58d67910f38d47}} 
+\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}!recog\_mitigate\_multipath@{recog\_mitigate\_multipath}}
+\index{recog\_mitigate\_multipath@{recog\_mitigate\_multipath}!multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+\doxysubsubsection{\texorpdfstring{recog\_mitigate\_multipath()}{recog\_mitigate\_multipath()}}
+{\footnotesize\ttfamily void recog\+\_\+mitigate\+\_\+multipath (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+\+Matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{r\+\_\+noised\+\_\+vec\mbox{[}m\mbox{]},  }\item[{uint8\+\_\+t}]{anchors\+\_\+optimal\mbox{[}k\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{start\+\_\+optimal\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em k} & k anchors (possible sub-\/experiments). \\
+\hline
+\mbox{\texttt{ in}}  & {\em m} & number of anchors. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+\+Matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}} & include noised distances. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchors\+\_\+optimal\mbox{[}$\,$\mbox{]}} & optimal k-\/anchor combination. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em start\+\_\+optimal\mbox{[}$\,$\mbox{]}} & optimal position. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 133 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+References C\+O\+M\+B\+I\+\_\+\+E\+R\+R\+OR, C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS, combinatorics\+\_\+get\+\_\+next\+\_\+without\+\_\+rep(), combinatorics\+\_\+init(), get\+\_\+optimal\+\_\+partial\+\_\+r\+\_\+noised\+\_\+vec(), get\+\_\+optimal\+\_\+partial\+\_\+ref\+\_\+matrix(), matrix\+\_\+t, shell\+\_\+sort(), trilateration2(), vector\+\_\+copy(), vector\+\_\+get\+\_\+index\+\_\+vector(), vector\+\_\+get\+\_\+norm2(), vector\+\_\+square(), and vector\+\_\+sub().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8c_a2776d1c18727f8feb5f0a83a6963e957}\label{multipath__dist__detection__mitigation_8c_a2776d1c18727f8feb5f0a83a6963e957}} 
+\index{multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}!sim\_UWB\_dist@{sim\_UWB\_dist}}
+\index{sim\_UWB\_dist@{sim\_UWB\_dist}!multipath\_dist\_detection\_mitigation.c@{multipath\_dist\_detection\_mitigation.c}}
+\doxysubsubsection{\texorpdfstring{sim\_UWB\_dist()}{sim\_UWB\_dist()}}
+{\footnotesize\ttfamily void sim\+\_\+\+U\+W\+B\+\_\+dist (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{uint32\+\_\+t}]{exact\+\_\+point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{sigma,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{multipath\mbox{[}n\mbox{]},  }\item[{int}]{seed,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Simulate an U\+W\+B-\/based localization system. 
+
+The U\+WB system is simulated by noising the distances from a mobile to the reference station.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference points. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em exact\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a true position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em sigma} & $ \sigma_{M,W} $ parameter. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & number of the multipath-\/affected distances. \\
+\hline
+\mbox{\texttt{ in}}  & {\em multipath\mbox{[}$\,$\mbox{]}} & multipath vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em seed} & seed value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}} & noised distances. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 78 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+References get\+\_\+exact\+\_\+distance\+\_\+to\+\_\+anchor(), get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num(), get\+\_\+rand\+\_\+num(), is\+\_\+member(), and matrix\+\_\+t.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
diff --git a/doc/doxygen/latex/multipath__dist__detection__mitigation_8h.tex b/doc/doxygen/latex/multipath__dist__detection__mitigation_8h.tex
new file mode 100644
index 0000000..dd71930
--- /dev/null
+++ b/doc/doxygen/latex/multipath__dist__detection__mitigation_8h.tex
@@ -0,0 +1,276 @@
+\hypertarget{multipath__dist__detection__mitigation_8h}{}\doxysection{multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+h File Reference}
+\label{multipath__dist__detection__mitigation_8h}\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+
+
+Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} \mbox{\hyperlink{multipath__dist__detection__mitigation_8h_a38019260396a33562d5a1912c691c26a}{get\+\_\+exact\+\_\+distance\+\_\+to\+\_\+anchor}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+point\mbox{[}$\,$\mbox{]}, uint32\+\_\+t exact\+\_\+point\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the exact distance between a mobile station and a reference station. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{multipath__dist__detection__mitigation_8h_a5609107d45b6abfa6614fc79c56273c8}{is\+\_\+member}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} vector, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} multipath\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine if a candidate is a multipath or not. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{multipath__dist__detection__mitigation_8h_a944bb181ffe0b3abc69e345ae88fbfc1}{is\+\_\+anchor}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+matr\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, uint32\+\_\+t point\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine if a point is an anchor or not. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8h_a2776d1c18727f8feb5f0a83a6963e957}{sim\+\_\+\+U\+W\+B\+\_\+dist}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, uint32\+\_\+t exact\+\_\+point\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} sigma, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} multipath\mbox{[}n\mbox{]}, int seed, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Simulate an U\+W\+B-\/based localization system. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8h_a6530e8d8955c511d3452748fec987a39}{get\+\_\+optimal\+\_\+partial\+\_\+ref\+\_\+matrix}} (uint8\+\_\+t anchors\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+matrix\mbox{[}anchors\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, uint8\+\_\+t k, uint8\+\_\+t optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} opt\+\_\+partial\+\_\+ref\+\_\+matrix\mbox{[}k\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the optimal partial matrix including reference points. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8h_a540837de8e8a9d4e5dbaac1814b19b5e}{get\+\_\+optimal\+\_\+partial\+\_\+r\+\_\+noised\+\_\+vec}} (uint8\+\_\+t k, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}, uint8\+\_\+t optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} opt\+\_\+sub\+\_\+r\+\_\+noised\+\_\+vec\mbox{[}k\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute noised distances corresponding to the optimal partial matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{multipath__dist__detection__mitigation_8h_a2840a12d90b5b26b59d50f449f754fbd}{recog\+\_\+mitigate\+\_\+multipath}} (uint8\+\_\+t k, uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} ref\+\_\+\+Matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} r\+\_\+noised\+\_\+vec\mbox{[}m\mbox{]}, uint8\+\_\+t anchors\+\_\+optimal\mbox{[}k\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} start\+\_\+optimal\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+
+Naouar Guerchali 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8h_a38019260396a33562d5a1912c691c26a}\label{multipath__dist__detection__mitigation_8h_a38019260396a33562d5a1912c691c26a}} 
+\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}!get\_exact\_distance\_to\_anchor@{get\_exact\_distance\_to\_anchor}}
+\index{get\_exact\_distance\_to\_anchor@{get\_exact\_distance\_to\_anchor}!multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+\doxysubsubsection{\texorpdfstring{get\_exact\_distance\_to\_anchor()}{get\_exact\_distance\_to\_anchor()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} get\+\_\+exact\+\_\+distance\+\_\+to\+\_\+anchor (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+point\mbox{[}$\,$\mbox{]},  }\item[{uint32\+\_\+t}]{exact\+\_\+point\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the exact distance between a mobile station and a reference station. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em ref\+\_\+point} & three-\/dimensional coordinates of a reference station. \\
+\hline
+\mbox{\texttt{ in}}  & {\em exact\+\_\+point} & three-\/dimensional coordinates of the mobile device.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the exact distance between the mobile station and the reference station. 
+\end{DoxyReturn}
+
+
+Definition at line 42 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by sim\+\_\+\+U\+W\+B\+\_\+dist().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8h_a540837de8e8a9d4e5dbaac1814b19b5e}\label{multipath__dist__detection__mitigation_8h_a540837de8e8a9d4e5dbaac1814b19b5e}} 
+\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}!get\_optimal\_partial\_r\_noised\_vec@{get\_optimal\_partial\_r\_noised\_vec}}
+\index{get\_optimal\_partial\_r\_noised\_vec@{get\_optimal\_partial\_r\_noised\_vec}!multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+\doxysubsubsection{\texorpdfstring{get\_optimal\_partial\_r\_noised\_vec()}{get\_optimal\_partial\_r\_noised\_vec()}}
+{\footnotesize\ttfamily void get\+\_\+optimal\+\_\+partial\+\_\+r\+\_\+noised\+\_\+vec (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{k,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{opt\+\_\+sub\+\_\+r\+\_\+noised\+\_\+vec\mbox{[}k\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute noised distances corresponding to the optimal partial matrix. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em k} & k anchors (possible sub-\/experiments). \\
+\hline
+\mbox{\texttt{ in}}  & {\em r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}} & include noised distances. \\
+\hline
+\mbox{\texttt{ in}}  & {\em optimal\+\_\+anchors\+\_\+comb\mbox{[}$\,$\mbox{]}} & optimal k-\/anchor combination. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em opt\+\_\+sub\+\_\+r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & noised distances corresponding to the optimal k-\/anchors. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 123 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8h_a6530e8d8955c511d3452748fec987a39}\label{multipath__dist__detection__mitigation_8h_a6530e8d8955c511d3452748fec987a39}} 
+\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}!get\_optimal\_partial\_ref\_matrix@{get\_optimal\_partial\_ref\_matrix}}
+\index{get\_optimal\_partial\_ref\_matrix@{get\_optimal\_partial\_ref\_matrix}!multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+\doxysubsubsection{\texorpdfstring{get\_optimal\_partial\_ref\_matrix()}{get\_optimal\_partial\_ref\_matrix()}}
+{\footnotesize\ttfamily void get\+\_\+optimal\+\_\+partial\+\_\+ref\+\_\+matrix (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchors\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+matrix\mbox{[}anchors\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{optimal\+\_\+anchors\+\_\+comb\mbox{[}k\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{opt\+\_\+partial\+\_\+ref\+\_\+matrix\mbox{[}k\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the optimal partial matrix including reference points. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchors\+\_\+num} & number of the reference points. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & k anchors (possible sub-\/experiments). \\
+\hline
+\mbox{\texttt{ in}}  & {\em optimal\+\_\+anchors\+\_\+comb\mbox{[}$\,$\mbox{]}} & optimal anchor combination. \\
+\hline
+\mbox{\texttt{ out}}  & {\em opt\+\_\+partial\+\_\+ref\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & optimal partial matrix of anchors. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 108 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), and recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8h_a944bb181ffe0b3abc69e345ae88fbfc1}\label{multipath__dist__detection__mitigation_8h_a944bb181ffe0b3abc69e345ae88fbfc1}} 
+\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}!is\_anchor@{is\_anchor}}
+\index{is\_anchor@{is\_anchor}!multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+\doxysubsubsection{\texorpdfstring{is\_anchor()}{is\_anchor()}}
+{\footnotesize\ttfamily bool is\+\_\+anchor (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+matr\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{uint32\+\_\+t}]{point\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine if a point is an anchor or not. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference points. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+matr\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a point.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if a point is an anchor. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 65 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8h_a5609107d45b6abfa6614fc79c56273c8}\label{multipath__dist__detection__mitigation_8h_a5609107d45b6abfa6614fc79c56273c8}} 
+\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}!is\_member@{is\_member}}
+\index{is\_member@{is\_member}!multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+\doxysubsubsection{\texorpdfstring{is\_member()}{is\_member()}}
+{\footnotesize\ttfamily bool is\+\_\+member (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{vector,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{multipath\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine if a candidate is a multipath or not. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em vector} & a candidate. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & size of the multipath-\/vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em multipath\mbox{[}$\,$\mbox{]}} & pointer to the multipath-\/vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if a candidate is a multipath. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 55 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+Referenced by sim\+\_\+\+U\+W\+B\+\_\+dist().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8h_a2840a12d90b5b26b59d50f449f754fbd}\label{multipath__dist__detection__mitigation_8h_a2840a12d90b5b26b59d50f449f754fbd}} 
+\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}!recog\_mitigate\_multipath@{recog\_mitigate\_multipath}}
+\index{recog\_mitigate\_multipath@{recog\_mitigate\_multipath}!multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+\doxysubsubsection{\texorpdfstring{recog\_mitigate\_multipath()}{recog\_mitigate\_multipath()}}
+{\footnotesize\ttfamily void recog\+\_\+mitigate\+\_\+multipath (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+\+Matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{r\+\_\+noised\+\_\+vec\mbox{[}m\mbox{]},  }\item[{uint8\+\_\+t}]{anchors\+\_\+optimal\mbox{[}k\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{start\+\_\+optimal\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+Implement the Multipath Distance Detection and Mitigation (M\+D\+DM) algorithm. 
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em k} & k anchors (possible sub-\/experiments). \\
+\hline
+\mbox{\texttt{ in}}  & {\em m} & number of anchors. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+\+Matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}} & include noised distances. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchors\+\_\+optimal\mbox{[}$\,$\mbox{]}} & optimal k-\/anchor combination. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em start\+\_\+optimal\mbox{[}$\,$\mbox{]}} & optimal position. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 133 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+References C\+O\+M\+B\+I\+\_\+\+E\+R\+R\+OR, C\+O\+M\+B\+I\+\_\+\+S\+U\+C\+C\+E\+SS, combinatorics\+\_\+get\+\_\+next\+\_\+without\+\_\+rep(), combinatorics\+\_\+init(), get\+\_\+optimal\+\_\+partial\+\_\+r\+\_\+noised\+\_\+vec(), get\+\_\+optimal\+\_\+partial\+\_\+ref\+\_\+matrix(), matrix\+\_\+t, shell\+\_\+sort(), trilateration2(), vector\+\_\+copy(), vector\+\_\+get\+\_\+index\+\_\+vector(), vector\+\_\+get\+\_\+norm2(), vector\+\_\+square(), and vector\+\_\+sub().
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
+\mbox{\Hypertarget{multipath__dist__detection__mitigation_8h_a2776d1c18727f8feb5f0a83a6963e957}\label{multipath__dist__detection__mitigation_8h_a2776d1c18727f8feb5f0a83a6963e957}} 
+\index{multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}!sim\_UWB\_dist@{sim\_UWB\_dist}}
+\index{sim\_UWB\_dist@{sim\_UWB\_dist}!multipath\_dist\_detection\_mitigation.h@{multipath\_dist\_detection\_mitigation.h}}
+\doxysubsubsection{\texorpdfstring{sim\_UWB\_dist()}{sim\_UWB\_dist()}}
+{\footnotesize\ttfamily void sim\+\_\+\+U\+W\+B\+\_\+dist (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{ref\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{uint32\+\_\+t}]{exact\+\_\+point\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{sigma,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{multipath\mbox{[}n\mbox{]},  }\item[{int}]{seed,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Simulate an U\+W\+B-\/based localization system. 
+
+The U\+WB system is simulated by noising the distances from a mobile to the reference station.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference points. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ref\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em exact\+\_\+point\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of a true position. \\
+\hline
+\mbox{\texttt{ in}}  & {\em sigma} & $ \sigma_{M,W} $ parameter. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & number of the multipath-\/affected distances. \\
+\hline
+\mbox{\texttt{ in}}  & {\em multipath\mbox{[}$\,$\mbox{]}} & multipath vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em seed} & seed value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em r\+\_\+noised\+\_\+vec\mbox{[}$\,$\mbox{]}} & noised distances. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 78 of file multipath\+\_\+dist\+\_\+detection\+\_\+mitigation.\+c.
+
+
+
+References get\+\_\+exact\+\_\+distance\+\_\+to\+\_\+anchor(), get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num(), get\+\_\+rand\+\_\+num(), is\+\_\+member(), and matrix\+\_\+t.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
diff --git a/doc/doxygen/latex/newton__raphson_8c.tex b/doc/doxygen/latex/newton__raphson_8c.tex
new file mode 100644
index 0000000..6a98f56
--- /dev/null
+++ b/doc/doxygen/latex/newton__raphson_8c.tex
@@ -0,0 +1,75 @@
+\hypertarget{newton__raphson_8c}{}\doxysection{newton\+\_\+raphson.\+c File Reference}
+\label{newton__raphson_8c}\index{newton\_raphson.c@{newton\_raphson.c}}
+
+
+Implement the Newton--Raphson algorithm.  
+
+
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{newton__raphson_8c_ac6837f695990867bd72cf23ee93961cc}{newton\+\_\+raphson}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+arr\mbox{[}$\,$\mbox{]}, double eps, uint8\+\_\+t max\+\_\+it\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the Newton--Raphson algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Newton--Raphson algorithm. 
+
+The Newton--Raphson algorithm enables to solve multi-\/variant nonlinear equation systems.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{newton__raphson_8c_ac6837f695990867bd72cf23ee93961cc}\label{newton__raphson_8c_ac6837f695990867bd72cf23ee93961cc}} 
+\index{newton\_raphson.c@{newton\_raphson.c}!newton\_raphson@{newton\_raphson}}
+\index{newton\_raphson@{newton\_raphson}!newton\_raphson.c@{newton\_raphson.c}}
+\doxysubsubsection{\texorpdfstring{newton\_raphson()}{newton\_raphson()}}
+{\footnotesize\ttfamily uint8\+\_\+t newton\+\_\+raphson (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{double}]{eps,  }\item[{uint8\+\_\+t}]{max\+\_\+it\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+arr\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+it\+\_\+num} & maximal iteration number of the Newton--Raphson algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & estimated (solution) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 28 of file newton\+\_\+raphson.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), vector\+\_\+copy(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+sub(), and vector\+\_\+t.
+
+
+
+Referenced by fsolve().
+
diff --git a/doc/doxygen/latex/newton__raphson_8h.tex b/doc/doxygen/latex/newton__raphson_8h.tex
new file mode 100644
index 0000000..4b7b015
--- /dev/null
+++ b/doc/doxygen/latex/newton__raphson_8h.tex
@@ -0,0 +1,75 @@
+\hypertarget{newton__raphson_8h}{}\doxysection{newton\+\_\+raphson.\+h File Reference}
+\label{newton__raphson_8h}\index{newton\_raphson.h@{newton\_raphson.h}}
+
+
+Implement the Newton--Raphson algorithm.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{newton__raphson_8h_ac6837f695990867bd72cf23ee93961cc}{newton\+\_\+raphson}} (uint8\+\_\+t f\+\_\+length, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+arr\mbox{[}$\,$\mbox{]}, double eps, uint8\+\_\+t max\+\_\+it\+\_\+num, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}, void($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]}), void($\ast$get\+\_\+jacobian)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}))
+\begin{DoxyCompactList}\small\item\em Implements the Newton--Raphson algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Newton--Raphson algorithm. 
+
+The Newton--Raphson algorithm enables to solve multi-\/variant nonlinear equation systems.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{newton__raphson_8h_ac6837f695990867bd72cf23ee93961cc}\label{newton__raphson_8h_ac6837f695990867bd72cf23ee93961cc}} 
+\index{newton\_raphson.h@{newton\_raphson.h}!newton\_raphson@{newton\_raphson}}
+\index{newton\_raphson@{newton\_raphson}!newton\_raphson.h@{newton\_raphson.h}}
+\doxysubsubsection{\texorpdfstring{newton\_raphson()}{newton\_raphson()}}
+{\footnotesize\ttfamily uint8\+\_\+t newton\+\_\+raphson (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{f\+\_\+length,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{double}]{eps,  }\item[{uint8\+\_\+t}]{max\+\_\+it\+\_\+num,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})}]{get\+\_\+non\+\_\+lin\+\_\+sys,  }\item[{void($\ast$)(\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]})}]{get\+\_\+jacobian }\end{DoxyParamCaption})}
+
+
+
+Implements the Newton--Raphson algorithm. 
+
+The user should provide pointers to non-\/linear equation systems and Jacobian functions. \begin{DoxyNote}{Note}
+This function is generally implemented.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em f\+\_\+length} & length of the error functions vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & length of the start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em x0\+\_\+arr\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em eps} & accuracy bound. \\
+\hline
+\mbox{\texttt{ in}}  & {\em max\+\_\+it\+\_\+num} & maximal iteration number of the Newton--Raphson algorithm. \\
+\hline
+\mbox{\texttt{ out}}  & {\em est\+\_\+x\+\_\+arr\mbox{[}$\,$\mbox{]}} & estimated (solution) vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+non\+\_\+lin\+\_\+sys)} & pointer to non-\/linear equation systems. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ($\ast$get\+\_\+jacobian)} & pointer to the Jacobian matrix.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+required iteration number. 
+\end{DoxyReturn}
+
+
+Definition at line 28 of file newton\+\_\+raphson.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), vector\+\_\+copy(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+sub(), and vector\+\_\+t.
+
+
+
+Referenced by fsolve().
+
diff --git a/doc/doxygen/latex/norm__dist__rnd__generator_8c.tex b/doc/doxygen/latex/norm__dist__rnd__generator_8c.tex
new file mode 100644
index 0000000..1ebd2f6
--- /dev/null
+++ b/doc/doxygen/latex/norm__dist__rnd__generator_8c.tex
@@ -0,0 +1,91 @@
+\hypertarget{norm__dist__rnd__generator_8c}{}\doxysection{norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+c File Reference}
+\label{norm__dist__rnd__generator_8c}\index{norm\_dist\_rnd\_generator.c@{norm\_dist\_rnd\_generator.c}}
+
+
+Generating normally distributed random numbers.  
+
+
+{\ttfamily \#include $<$stdlib.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+double \mbox{\hyperlink{norm__dist__rnd__generator_8c_a7c43c3270c6c14bb23f14d071f6132bf}{get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num}} (double mean\+\_\+val, double std\+\_\+dev\+\_\+val)
+\begin{DoxyCompactList}\small\item\em Get a normally distributed random number by applying the Box--Muller method. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{norm__dist__rnd__generator_8c_a5767383d0f4f1fed2c194695a22f56cb}{get\+\_\+rand\+\_\+num}} (int initial\+\_\+seed\+\_\+val)
+\begin{DoxyCompactList}\small\item\em Generate uniform (0.\+0, 1.\+0) random numbers by using the Linear Congruential Generator (L\+GC) algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Generating normally distributed random numbers. 
+
+The generation of normally distributed random numbers is implemented by using the Box--Muller method.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{norm__dist__rnd__generator_8c_a7c43c3270c6c14bb23f14d071f6132bf}\label{norm__dist__rnd__generator_8c_a7c43c3270c6c14bb23f14d071f6132bf}} 
+\index{norm\_dist\_rnd\_generator.c@{norm\_dist\_rnd\_generator.c}!get\_norm\_distr\_rand\_num@{get\_norm\_distr\_rand\_num}}
+\index{get\_norm\_distr\_rand\_num@{get\_norm\_distr\_rand\_num}!norm\_dist\_rnd\_generator.c@{norm\_dist\_rnd\_generator.c}}
+\doxysubsubsection{\texorpdfstring{get\_norm\_distr\_rand\_num()}{get\_norm\_distr\_rand\_num()}}
+{\footnotesize\ttfamily double get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num (\begin{DoxyParamCaption}\item[{double}]{mean\+\_\+val,  }\item[{double}]{std\+\_\+dev\+\_\+val }\end{DoxyParamCaption})}
+
+
+
+Get a normally distributed random number by applying the Box--Muller method. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em mean\+\_\+val} & mean value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em std\+\_\+dev\+\_\+val} & standard deviation.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+normally distributed random number. 
+\end{DoxyReturn}
+
+
+Definition at line 40 of file norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+c.
+
+
+
+References get\+\_\+rand\+\_\+num(), and PI.
+
+
+
+Referenced by sim\+\_\+\+U\+W\+B\+\_\+dist().
+
+\mbox{\Hypertarget{norm__dist__rnd__generator_8c_a5767383d0f4f1fed2c194695a22f56cb}\label{norm__dist__rnd__generator_8c_a5767383d0f4f1fed2c194695a22f56cb}} 
+\index{norm\_dist\_rnd\_generator.c@{norm\_dist\_rnd\_generator.c}!get\_rand\_num@{get\_rand\_num}}
+\index{get\_rand\_num@{get\_rand\_num}!norm\_dist\_rnd\_generator.c@{norm\_dist\_rnd\_generator.c}}
+\doxysubsubsection{\texorpdfstring{get\_rand\_num()}{get\_rand\_num()}}
+{\footnotesize\ttfamily double get\+\_\+rand\+\_\+num (\begin{DoxyParamCaption}\item[{int}]{initial\+\_\+seed\+\_\+val }\end{DoxyParamCaption})}
+
+
+
+Generate uniform (0.\+0, 1.\+0) random numbers by using the Linear Congruential Generator (L\+GC) algorithm. 
+
+\begin{DoxyNote}{Note}
+The L\+GC is implemented based on the following book\+: R. Jain, \char`\"{}\+The Art of Computer Systems Performance Analysis,\char`\"{} John Wiley \& Sons, 1991.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em initial\+\_\+seed\+\_\+val} & initial seed value.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+random number between 0.\+0 and 1.\+0. 
+\end{DoxyReturn}
+
+
+Definition at line 80 of file norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+c.
+
+
+
+Referenced by get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num(), and sim\+\_\+\+U\+W\+B\+\_\+dist().
+
diff --git a/doc/doxygen/latex/norm__dist__rnd__generator_8h.tex b/doc/doxygen/latex/norm__dist__rnd__generator_8h.tex
new file mode 100644
index 0000000..2853cef
--- /dev/null
+++ b/doc/doxygen/latex/norm__dist__rnd__generator_8h.tex
@@ -0,0 +1,106 @@
+\hypertarget{norm__dist__rnd__generator_8h}{}\doxysection{norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h File Reference}
+\label{norm__dist__rnd__generator_8h}\index{norm\_dist\_rnd\_generator.h@{norm\_dist\_rnd\_generator.h}}
+
+
+Generating normally distributed random numbers.  
+
+
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{norm__dist__rnd__generator_8h_a598a3330b3c21701223ee0ca14316eca}{PI}}~3.\+14159265
+\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+double \mbox{\hyperlink{norm__dist__rnd__generator_8h_a35eb81d6885b8d16d225b230f88a919a}{get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num}} (double mean, double std\+\_\+dev)
+\begin{DoxyCompactList}\small\item\em Get a normally distributed random number by applying the Box--Muller method. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{norm__dist__rnd__generator_8h_a58c36346c01fb7f1a336a610b177b903}{get\+\_\+rand\+\_\+num}} (int seed)
+\begin{DoxyCompactList}\small\item\em Generate uniform (0.\+0, 1.\+0) random numbers by using the Linear Congruential Generator (L\+GC) algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Generating normally distributed random numbers. 
+
+The generation of normally distributed random numbers is implemented by using the Box--Muller method.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{norm__dist__rnd__generator_8h_a598a3330b3c21701223ee0ca14316eca}\label{norm__dist__rnd__generator_8h_a598a3330b3c21701223ee0ca14316eca}} 
+\index{norm\_dist\_rnd\_generator.h@{norm\_dist\_rnd\_generator.h}!PI@{PI}}
+\index{PI@{PI}!norm\_dist\_rnd\_generator.h@{norm\_dist\_rnd\_generator.h}}
+\doxysubsubsection{\texorpdfstring{PI}{PI}}
+{\footnotesize\ttfamily \#define PI~3.\+14159265}
+
+Pi, the ratio of a circle\textquotesingle{}s circumference to its diameter. 
+
+Definition at line 33 of file norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+h.
+
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{norm__dist__rnd__generator_8h_a35eb81d6885b8d16d225b230f88a919a}\label{norm__dist__rnd__generator_8h_a35eb81d6885b8d16d225b230f88a919a}} 
+\index{norm\_dist\_rnd\_generator.h@{norm\_dist\_rnd\_generator.h}!get\_norm\_distr\_rand\_num@{get\_norm\_distr\_rand\_num}}
+\index{get\_norm\_distr\_rand\_num@{get\_norm\_distr\_rand\_num}!norm\_dist\_rnd\_generator.h@{norm\_dist\_rnd\_generator.h}}
+\doxysubsubsection{\texorpdfstring{get\_norm\_distr\_rand\_num()}{get\_norm\_distr\_rand\_num()}}
+{\footnotesize\ttfamily double get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num (\begin{DoxyParamCaption}\item[{double}]{mean\+\_\+val,  }\item[{double}]{std\+\_\+dev\+\_\+val }\end{DoxyParamCaption})}
+
+
+
+Get a normally distributed random number by applying the Box--Muller method. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em mean\+\_\+val} & mean value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em std\+\_\+dev\+\_\+val} & standard deviation.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+normally distributed random number. 
+\end{DoxyReturn}
+
+
+Definition at line 40 of file norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+c.
+
+
+
+References get\+\_\+rand\+\_\+num(), and PI.
+
+
+
+Referenced by sim\+\_\+\+U\+W\+B\+\_\+dist().
+
+\mbox{\Hypertarget{norm__dist__rnd__generator_8h_a58c36346c01fb7f1a336a610b177b903}\label{norm__dist__rnd__generator_8h_a58c36346c01fb7f1a336a610b177b903}} 
+\index{norm\_dist\_rnd\_generator.h@{norm\_dist\_rnd\_generator.h}!get\_rand\_num@{get\_rand\_num}}
+\index{get\_rand\_num@{get\_rand\_num}!norm\_dist\_rnd\_generator.h@{norm\_dist\_rnd\_generator.h}}
+\doxysubsubsection{\texorpdfstring{get\_rand\_num()}{get\_rand\_num()}}
+{\footnotesize\ttfamily double get\+\_\+rand\+\_\+num (\begin{DoxyParamCaption}\item[{int}]{initial\+\_\+seed\+\_\+val }\end{DoxyParamCaption})}
+
+
+
+Generate uniform (0.\+0, 1.\+0) random numbers by using the Linear Congruential Generator (L\+GC) algorithm. 
+
+\begin{DoxyNote}{Note}
+The L\+GC is implemented based on the following book\+: R. Jain, \char`\"{}\+The Art of Computer Systems Performance Analysis,\char`\"{} John Wiley \& Sons, 1991.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em initial\+\_\+seed\+\_\+val} & initial seed value.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+random number between 0.\+0 and 1.\+0. 
+\end{DoxyReturn}
+
+
+Definition at line 80 of file norm\+\_\+dist\+\_\+rnd\+\_\+generator.\+c.
+
+
+
+Referenced by get\+\_\+norm\+\_\+distr\+\_\+rand\+\_\+num(), and sim\+\_\+\+U\+W\+B\+\_\+dist().
+
diff --git a/doc/doxygen/latex/optimization__test_8c.tex b/doc/doxygen/latex/optimization__test_8c.tex
new file mode 100644
index 0000000..1709034
--- /dev/null
+++ b/doc/doxygen/latex/optimization__test_8c.tex
@@ -0,0 +1,272 @@
+\hypertarget{optimization__test_8c}{}\doxysection{optimization\+\_\+test.\+c File Reference}
+\label{optimization__test_8c}\index{optimization\_test.c@{optimization\_test.c}}
+
+
+Examples of optimization algorithms.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}levenberg\+\_\+marquardt.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}modified\+\_\+gauss\+\_\+newton.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{optimization__test_8c_ac7361316d224b72baa4a681297d9f51c}{optimization\+\_\+get\+\_\+J}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the Jacobian matrix of the function \mbox{\hyperlink{optimization__test_8c_a610651298b8018db96cf21ee31740d3b}{optimization\+\_\+get\+\_\+f\+\_\+error}}. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8c_a610651298b8018db96cf21ee31740d3b}{optimization\+\_\+get\+\_\+f\+\_\+error}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x0\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the error vector of the approximation. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{optimization__test_8c_a1062ae4598fabcf957ec0b855737db20}\label{optimization__test_8c_a1062ae4598fabcf957ec0b855737db20}} 
+void \mbox{\hyperlink{optimization__test_8c_a1062ae4598fabcf957ec0b855737db20}{optimization\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms using the L\+VM and GN algorithms. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8c_ac11e842f01767e97924c100df684476d}{optimization\+\_\+get\+\_\+exp\+\_\+f}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the error vector using exponential data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8c_a98fdeac6ec9a38cb63f48e7c0f0085f0}{optimization\+\_\+get\+\_\+exp\+\_\+\+Jacobian}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}2\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the Jacobian matrix using exponential data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8c_a5f1f1ed377535a6d4c5758c38174fcb9}{optimization\+\_\+exponential\+\_\+data\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms using exponential data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8c_a1daefb42bf903899e7e1d5237ba62c0b}{optimization\+\_\+get\+\_\+sin\+\_\+f}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} data\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} f\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the error vector using sinusoidal data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8c_acb161b62c37921a9edd0cb7aeb76342a}{optimization\+\_\+get\+\_\+sin\+\_\+\+Jacobian}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} x\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} J\mbox{[}$\,$\mbox{]}\mbox{[}4\mbox{]})
+\begin{DoxyCompactList}\small\item\em Calculate the Jacobian matrix using sinusoidal data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8c_a5f89a9747d6a7bec1ad0a80ba31647b9}{optimization\+\_\+sinusoidal\+\_\+data\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms using sinusoidal data. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of optimization algorithms. 
+
+Optimization algorithms examples (see the \mbox{\hyperlink{modified__gauss__newton_8h}{modified GN}} and \mbox{\hyperlink{levenberg__marquardt_8h}{L\+VM}} optimization methods).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{optimization__test_8c_a5f1f1ed377535a6d4c5758c38174fcb9}\label{optimization__test_8c_a5f1f1ed377535a6d4c5758c38174fcb9}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_exponential\_data\_test@{optimization\_exponential\_data\_test}}
+\index{optimization\_exponential\_data\_test@{optimization\_exponential\_data\_test}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_exponential\_data\_test()}{optimization\_exponential\_data\_test()}}
+{\footnotesize\ttfamily void optimization\+\_\+exponential\+\_\+data\+\_\+test (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+Examples of optimization algorithms using exponential data. 
+
+The model function is\+: $ g(\vec{x}, t) = x_1 \mathrm{e}^{x_2t}, $ where $\vec{x} = [x_1, x_2]^T$ and $ \vec{x_0} = [6,.3]$ is the initial guess. The data set is $ d(t_i, y_i)$, whereby $ t_i $ is equal to $ \lbrace 1, \hdots, 8 \rbrace$ and $ y_i$ is equal to $\lbrace 8.3, 11.0, 14.7, 19.7, 26.7, 35.2, 44.4, 55.9 \rbrace $. 
+
+Definition at line 264 of file optimization\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t, modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), optimization\+\_\+get\+\_\+exp\+\_\+f(), optimization\+\_\+get\+\_\+exp\+\_\+\+Jacobian(), vector\+\_\+clear(), and vector\+\_\+t.
+
+\mbox{\Hypertarget{optimization__test_8c_ac11e842f01767e97924c100df684476d}\label{optimization__test_8c_ac11e842f01767e97924c100df684476d}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_get\_exp\_f@{optimization\_get\_exp\_f}}
+\index{optimization\_get\_exp\_f@{optimization\_get\_exp\_f}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_get\_exp\_f()}{optimization\_get\_exp\_f()}}
+{\footnotesize\ttfamily void optimization\+\_\+get\+\_\+exp\+\_\+f (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the error vector using exponential data. 
+
+The error function is\+: $ \vec{f}(x_1, x_2) = \begin{bmatrix} x_1 \mathrm{e}^{x_2} - y_1, ~\hdots, x_1\mathrm{e}^{8x_2}-y_8 \end{bmatrix}^{T}, $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & calculated error vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 215 of file optimization\+\_\+test.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+exponential\+\_\+data\+\_\+test().
+
+\mbox{\Hypertarget{optimization__test_8c_a98fdeac6ec9a38cb63f48e7c0f0085f0}\label{optimization__test_8c_a98fdeac6ec9a38cb63f48e7c0f0085f0}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_get\_exp\_Jacobian@{optimization\_get\_exp\_Jacobian}}
+\index{optimization\_get\_exp\_Jacobian@{optimization\_get\_exp\_Jacobian}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_get\_exp\_Jacobian()}{optimization\_get\_exp\_Jacobian()}}
+{\footnotesize\ttfamily void optimization\+\_\+get\+\_\+exp\+\_\+\+Jacobian (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}$\,$\mbox{]}\mbox{[}2\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the Jacobian matrix using exponential data. 
+
+The Jacobian matrix is\+: $ {J_f} = \begin{bmatrix} \frac{\partial f_1}{\partial x1} & \frac{\partial f_1}{\partial x_2} \\ \frac{\partial f_2}{\partial x1} & \frac{\partial f_2}{\partial x_2} \\ \vdots & \vdots & \\ \frac{\partial f_n}{\partial x1} & \frac{\partial f_n}{\partial x_2} \\ \end{bmatrix} = \begin{bmatrix} \mathrm{e}^{x_2} & \mathrm{e}^{x_2} x_1\\ \mathrm{e}^{2 x_2} & 2\mathrm{e}^{2x_2} x_1 \\ \vdots & \vdots & \\ \mathrm{e}^{8 x_2} & 8\mathrm{e}^{8x_2} x_1 \\ \end{bmatrix}. $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\mbox{[}$\,$\mbox{]}} & Jacobian matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 251 of file optimization\+\_\+test.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+exponential\+\_\+data\+\_\+test().
+
+\mbox{\Hypertarget{optimization__test_8c_a610651298b8018db96cf21ee31740d3b}\label{optimization__test_8c_a610651298b8018db96cf21ee31740d3b}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_get\_f\_error@{optimization\_get\_f\_error}}
+\index{optimization\_get\_f\_error@{optimization\_get\_f\_error}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_get\_f\_error()}{optimization\_get\_f\_error()}}
+{\footnotesize\ttfamily void optimization\+\_\+get\+\_\+f\+\_\+error (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the error vector of the approximation. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x0\+\_\+vec\mbox{[}$\,$\mbox{]}} & start values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em measured\+\_\+data\+\_\+vec\mbox{[}$\,$\mbox{]}} & measured data vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & calculated error vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 70 of file optimization\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+test().
+
+\mbox{\Hypertarget{optimization__test_8c_ac7361316d224b72baa4a681297d9f51c}\label{optimization__test_8c_ac7361316d224b72baa4a681297d9f51c}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_get\_J@{optimization\_get\_J}}
+\index{optimization\_get\_J@{optimization\_get\_J}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_get\_J()}{optimization\_get\_J()}}
+{\footnotesize\ttfamily void optimization\+\_\+get\+\_\+J (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x0\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}$\,$\mbox{]}\mbox{[}3\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the Jacobian matrix of the function \mbox{\hyperlink{optimization__test_8c_a610651298b8018db96cf21ee31740d3b}{optimization\+\_\+get\+\_\+f\+\_\+error}}. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x0\+\_\+vec\mbox{[}$\,$\mbox{]}} & start values. \\
+\hline
+\mbox{\texttt{ out}}  & {\em J\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & calculated Jacobian matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 39 of file optimization\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+test().
+
+\mbox{\Hypertarget{optimization__test_8c_a1daefb42bf903899e7e1d5237ba62c0b}\label{optimization__test_8c_a1daefb42bf903899e7e1d5237ba62c0b}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_get\_sin\_f@{optimization\_get\_sin\_f}}
+\index{optimization\_get\_sin\_f@{optimization\_get\_sin\_f}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_get\_sin\_f()}{optimization\_get\_sin\_f()}}
+{\footnotesize\ttfamily void optimization\+\_\+get\+\_\+sin\+\_\+f (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{data\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{f\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the error vector using sinusoidal data. 
+
+The error function is\+: $ \vec{f}(x_1, x_2, x_3, x_4)= \begin{bmatrix} x_1 \sin\left( x_2 +x_3\right) +x_4 - y_1 \\ \vdots \\ x_1 \sin\left( 12 x_2 +x_3\right) +x_4 - y_{12} \end{bmatrix}. $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em data\+\_\+vec\mbox{[}$\,$\mbox{]}} & data vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em f\+\_\+vec\mbox{[}$\,$\mbox{]}} & calculated error vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 325 of file optimization\+\_\+test.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+sinusoidal\+\_\+data\+\_\+test().
+
+\mbox{\Hypertarget{optimization__test_8c_acb161b62c37921a9edd0cb7aeb76342a}\label{optimization__test_8c_acb161b62c37921a9edd0cb7aeb76342a}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_get\_sin\_Jacobian@{optimization\_get\_sin\_Jacobian}}
+\index{optimization\_get\_sin\_Jacobian@{optimization\_get\_sin\_Jacobian}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_get\_sin\_Jacobian()}{optimization\_get\_sin\_Jacobian()}}
+{\footnotesize\ttfamily void optimization\+\_\+get\+\_\+sin\+\_\+\+Jacobian (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{x\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{J\mbox{[}$\,$\mbox{]}\mbox{[}4\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Calculate the Jacobian matrix using sinusoidal data. 
+
+The Jacobian matrix is $ J_f = \left[\begin{matrix} \sin\left( x_2 +x_3\right) & x_1 \cos\left( x_2 +x_3\right) & x_1\cos\left( x_2 +x_3\right) \\ \sin\left( 2 x_2 +x_3\right) & 2 x_1 \cos\left( 2 x_2 +x_3\right) & x_1 \cos\left( 2 x_2 +x_3\right)\\ \vdots & \vdots \\ \sin\left( 12 x_2 +x_3\right) & 12 x_1 \cos\left( 12 x_2 +x_3\right) & x_1 \cos\left( 12 x_2 +x_3\right) \end{matrix}\right]. $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x\+\_\+vec\mbox{[}$\,$\mbox{]}} & start vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em J\mbox{[}$\,$\mbox{]}} & Jacobian matrix. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 360 of file optimization\+\_\+test.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by optimization\+\_\+sinusoidal\+\_\+data\+\_\+test().
+
+\mbox{\Hypertarget{optimization__test_8c_a5f89a9747d6a7bec1ad0a80ba31647b9}\label{optimization__test_8c_a5f89a9747d6a7bec1ad0a80ba31647b9}} 
+\index{optimization\_test.c@{optimization\_test.c}!optimization\_sinusoidal\_data\_test@{optimization\_sinusoidal\_data\_test}}
+\index{optimization\_sinusoidal\_data\_test@{optimization\_sinusoidal\_data\_test}!optimization\_test.c@{optimization\_test.c}}
+\doxysubsubsection{\texorpdfstring{optimization\_sinusoidal\_data\_test()}{optimization\_sinusoidal\_data\_test()}}
+{\footnotesize\ttfamily void optimization\+\_\+sinusoidal\+\_\+data\+\_\+test (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+Examples of optimization algorithms using sinusoidal data. 
+
+The model function is\+: $ g(\vec{x}, t) = x_1 \sin\left( x_2t +x_3\right) + x_4, $ whereby $\vec{x} = [x_1, x_2, x_3, x_4]^T$ and $\vec{x_0} = [17, 0.5, 10.5, 77]$ is the initial guess. The set of data points is $ d(t_i, y_i) $, where $t_i $ is equal to $\lbrace 1, \hdots, 12 \rbrace$ and $y_i$ is equal to $\lbrace 61, 65, 72, 78, 85, 90, 92, 92, 88, 81, 72, 63 \rbrace$. 
+
+Definition at line 376 of file optimization\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t, modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), optimization\+\_\+get\+\_\+sin\+\_\+f(), optimization\+\_\+get\+\_\+sin\+\_\+\+Jacobian(), vector\+\_\+clear(), and vector\+\_\+t.
+
diff --git a/doc/doxygen/latex/optimization__test_8h.tex b/doc/doxygen/latex/optimization__test_8h.tex
new file mode 100644
index 0000000..de9d89a
--- /dev/null
+++ b/doc/doxygen/latex/optimization__test_8h.tex
@@ -0,0 +1,66 @@
+\hypertarget{optimization__test_8h}{}\doxysection{optimization\+\_\+test.\+h File Reference}
+\label{optimization__test_8h}\index{optimization\_test.h@{optimization\_test.h}}
+
+
+Examples of optimization algorithms.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{optimization__test_8h_a1062ae4598fabcf957ec0b855737db20}\label{optimization__test_8h_a1062ae4598fabcf957ec0b855737db20}} 
+void \mbox{\hyperlink{optimization__test_8h_a1062ae4598fabcf957ec0b855737db20}{optimization\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms using the L\+VM and GN algorithms. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8h_a5f1f1ed377535a6d4c5758c38174fcb9}{optimization\+\_\+exponential\+\_\+data\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms using exponential data. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{optimization__test_8h_a5f89a9747d6a7bec1ad0a80ba31647b9}{optimization\+\_\+sinusoidal\+\_\+data\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms using sinusoidal data. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of optimization algorithms. 
+
+Optimization algorithms examples (see the \mbox{\hyperlink{modified__gauss__newton_8h}{modified GN}} and \mbox{\hyperlink{levenberg__marquardt_8h}{L\+VM}} optimization methods).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{optimization__test_8h_a5f1f1ed377535a6d4c5758c38174fcb9}\label{optimization__test_8h_a5f1f1ed377535a6d4c5758c38174fcb9}} 
+\index{optimization\_test.h@{optimization\_test.h}!optimization\_exponential\_data\_test@{optimization\_exponential\_data\_test}}
+\index{optimization\_exponential\_data\_test@{optimization\_exponential\_data\_test}!optimization\_test.h@{optimization\_test.h}}
+\doxysubsubsection{\texorpdfstring{optimization\_exponential\_data\_test()}{optimization\_exponential\_data\_test()}}
+{\footnotesize\ttfamily void optimization\+\_\+exponential\+\_\+data\+\_\+test (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+Examples of optimization algorithms using exponential data. 
+
+The model function is\+: $ g(\vec{x}, t) = x_1 \mathrm{e}^{x_2t}, $ where $\vec{x} = [x_1, x_2]^T$ and $ \vec{x_0} = [6,.3]$ is the initial guess. The data set is $ d(t_i, y_i)$, whereby $ t_i $ is equal to $ \lbrace 1, \hdots, 8 \rbrace$ and $ y_i$ is equal to $\lbrace 8.3, 11.0, 14.7, 19.7, 26.7, 35.2, 44.4, 55.9 \rbrace $. 
+
+Definition at line 264 of file optimization\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t, modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), optimization\+\_\+get\+\_\+exp\+\_\+f(), optimization\+\_\+get\+\_\+exp\+\_\+\+Jacobian(), vector\+\_\+clear(), and vector\+\_\+t.
+
+\mbox{\Hypertarget{optimization__test_8h_a5f89a9747d6a7bec1ad0a80ba31647b9}\label{optimization__test_8h_a5f89a9747d6a7bec1ad0a80ba31647b9}} 
+\index{optimization\_test.h@{optimization\_test.h}!optimization\_sinusoidal\_data\_test@{optimization\_sinusoidal\_data\_test}}
+\index{optimization\_sinusoidal\_data\_test@{optimization\_sinusoidal\_data\_test}!optimization\_test.h@{optimization\_test.h}}
+\doxysubsubsection{\texorpdfstring{optimization\_sinusoidal\_data\_test()}{optimization\_sinusoidal\_data\_test()}}
+{\footnotesize\ttfamily void optimization\+\_\+sinusoidal\+\_\+data\+\_\+test (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+Examples of optimization algorithms using sinusoidal data. 
+
+The model function is\+: $ g(\vec{x}, t) = x_1 \sin\left( x_2t +x_3\right) + x_4, $ whereby $\vec{x} = [x_1, x_2, x_3, x_4]^T$ and $\vec{x_0} = [17, 0.5, 10.5, 77]$ is the initial guess. The set of data points is $ d(t_i, y_i) $, where $t_i $ is equal to $\lbrace 1, \hdots, 12 \rbrace$ and $y_i$ is equal to $\lbrace 61, 65, 72, 78, 85, 90, 92, 92, 88, 81, 72, 63 \rbrace$. 
+
+Definition at line 376 of file optimization\+\_\+test.\+c.
+
+
+
+References matrix\+\_\+t, modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), optimization\+\_\+get\+\_\+sin\+\_\+f(), optimization\+\_\+get\+\_\+sin\+\_\+\+Jacobian(), vector\+\_\+clear(), and vector\+\_\+t.
+
diff --git a/doc/doxygen/latex/pos__algos__common__test_8c.tex b/doc/doxygen/latex/pos__algos__common__test_8c.tex
new file mode 100644
index 0000000..3b20d2e
--- /dev/null
+++ b/doc/doxygen/latex/pos__algos__common__test_8c.tex
@@ -0,0 +1,27 @@
+\hypertarget{pos__algos__common__test_8c}{}\doxysection{pos\+\_\+algos\+\_\+common\+\_\+test.\+c File Reference}
+\label{pos__algos__common__test_8c}\index{pos\_algos\_common\_test.c@{pos\_algos\_common\_test.c}}
+
+
+Examples of common algorithms of localization systems.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}D\+O\+P.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}trilateration.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{pos__algos__common__test_8c_ad7c3809ba4d66f929854a4127784be8c}\label{pos__algos__common__test_8c_ad7c3809ba4d66f929854a4127784be8c}} 
+void \mbox{\hyperlink{pos__algos__common__test_8c_ad7c3809ba4d66f929854a4127784be8c}{pos\+\_\+algos\+\_\+common\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of common localization algorithms. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of common algorithms of localization systems. 
+
+Common algorithms examples of positioning systems (see the \mbox{\hyperlink{group__pos__algos__common}{positioning algorithms common}} module).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/pos__algos__common__test_8h.tex b/doc/doxygen/latex/pos__algos__common__test_8h.tex
new file mode 100644
index 0000000..c5224c1
--- /dev/null
+++ b/doc/doxygen/latex/pos__algos__common__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{pos__algos__common__test_8h}{}\doxysection{pos\+\_\+algos\+\_\+common\+\_\+test.\+h File Reference}
+\label{pos__algos__common__test_8h}\index{pos\_algos\_common\_test.h@{pos\_algos\_common\_test.h}}
+
+
+Examples of common algorithms of localization systems.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{pos__algos__common__test_8h_ad7c3809ba4d66f929854a4127784be8c}\label{pos__algos__common__test_8h_ad7c3809ba4d66f929854a4127784be8c}} 
+void \mbox{\hyperlink{pos__algos__common__test_8h_ad7c3809ba4d66f929854a4127784be8c}{pos\+\_\+algos\+\_\+common\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of common localization algorithms. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of common algorithms of localization systems. 
+
+Common algorithms examples of positioning systems (see the \mbox{\hyperlink{group__pos__algos__common}{positioning algorithms common}} module).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/position__optimization__test_8c.tex b/doc/doxygen/latex/position__optimization__test_8c.tex
new file mode 100644
index 0000000..56795c0
--- /dev/null
+++ b/doc/doxygen/latex/position__optimization__test_8c.tex
@@ -0,0 +1,35 @@
+\hypertarget{position__optimization__test_8c}{}\doxysection{position\+\_\+optimization\+\_\+test.\+c File Reference}
+\label{position__optimization__test_8c}\index{position\_optimization\_test.c@{position\_optimization\_test.c}}
+
+
+Examples of optimization algorithms for localization systems.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}loc\+\_\+levenberg\+\_\+marquardt.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}loc\+\_\+gauss\+\_\+newton.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+fi.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+position.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}dist\+\_\+based\+\_\+jacobian.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{position__optimization__test_8c_adf2ebfc668717eeac312234ac2b24166}\label{position__optimization__test_8c_adf2ebfc668717eeac312234ac2b24166}} 
+void \mbox{\hyperlink{position__optimization__test_8c_adf2ebfc668717eeac312234ac2b24166}{position\+\_\+optimization\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms of a localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of optimization algorithms for localization systems. 
+
+Optimization algorithms examples for localization systems. (see the \mbox{\hyperlink{loc__gauss__newton_8h}{modified GN}} and \mbox{\hyperlink{loc__levenberg__marquardt_8h}{L\+VM}} optimization methods).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/position__optimization__test_8h.tex b/doc/doxygen/latex/position__optimization__test_8h.tex
new file mode 100644
index 0000000..006bf67
--- /dev/null
+++ b/doc/doxygen/latex/position__optimization__test_8h.tex
@@ -0,0 +1,27 @@
+\hypertarget{position__optimization__test_8h}{}\doxysection{position\+\_\+optimization\+\_\+test.\+h File Reference}
+\label{position__optimization__test_8h}\index{position\_optimization\_test.h@{position\_optimization\_test.h}}
+
+
+Examples of optimization algorithms for localization systems.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{position__optimization__test_8h_adf2ebfc668717eeac312234ac2b24166}\label{position__optimization__test_8h_adf2ebfc668717eeac312234ac2b24166}} 
+void \mbox{\hyperlink{position__optimization__test_8h_adf2ebfc668717eeac312234ac2b24166}{position\+\_\+optimization\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of optimization algorithms of a localization system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of optimization algorithms for localization systems. 
+
+Optimization algorithms examples for localization systems. (see the \mbox{\hyperlink{loc__gauss__newton_8h}{modified GN}} and \mbox{\hyperlink{loc__levenberg__marquardt_8h}{L\+VM}} optimization methods).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Naouar Guerchali 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/pseudo__inverse_8h.tex b/doc/doxygen/latex/pseudo__inverse_8h.tex
new file mode 100644
index 0000000..14ca63b
--- /dev/null
+++ b/doc/doxygen/latex/pseudo__inverse_8h.tex
@@ -0,0 +1,61 @@
+\hypertarget{pseudo__inverse_8h}{}\doxysection{pseudo\+\_\+inverse.\+h File Reference}
+\label{pseudo__inverse_8h}\index{pseudo\_inverse.h@{pseudo\_inverse.h}}
+
+
+Compute the pseudo-\/inverse of a matrix.  
+
+
+\doxysubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum \mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}{A\+L\+G\+O\+R\+I\+T\+HM}} \{ \mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3ae835310f82eb01d07137e72133cd5b06}{Moore\+\_\+\+Penrose}}, 
+\mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3a9db08339065f28367b9ae058d1127a04}{Householder}}, 
+\mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3aab4d4fdd6aa659e7306fa9abf3d0a991}{Givens}}, 
+\mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3ab15a7891aa5223439e4692a1048cb220}{Gauss}}
+ \}
+\begin{DoxyCompactList}\small\item\em Possible algorithms to compute the pseudo-\/inverse matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Compute the pseudo-\/inverse of a matrix. 
+
+The pseudo-\/inverse matrix can be computed using the Singular Value Decomposition (S\+VD), Householder, or Givens algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Enumeration Type Documentation}
+\mbox{\Hypertarget{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}\label{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}} 
+\index{pseudo\_inverse.h@{pseudo\_inverse.h}!ALGORITHM@{ALGORITHM}}
+\index{ALGORITHM@{ALGORITHM}!pseudo\_inverse.h@{pseudo\_inverse.h}}
+\doxysubsubsection{\texorpdfstring{ALGORITHM}{ALGORITHM}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}{A\+L\+G\+O\+R\+I\+T\+HM}}}
+
+
+
+Possible algorithms to compute the pseudo-\/inverse matrix. 
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{Moore\_Penrose@{Moore\_Penrose}!pseudo\_inverse.h@{pseudo\_inverse.h}}\index{pseudo\_inverse.h@{pseudo\_inverse.h}!Moore\_Penrose@{Moore\_Penrose}}}\mbox{\Hypertarget{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3ae835310f82eb01d07137e72133cd5b06}\label{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3ae835310f82eb01d07137e72133cd5b06}} 
+Moore\+\_\+\+Penrose&Moore--Penrose algorithm. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{Householder@{Householder}!pseudo\_inverse.h@{pseudo\_inverse.h}}\index{pseudo\_inverse.h@{pseudo\_inverse.h}!Householder@{Householder}}}\mbox{\Hypertarget{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3a9db08339065f28367b9ae058d1127a04}\label{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3a9db08339065f28367b9ae058d1127a04}} 
+Householder&Householder algorithm. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{Givens@{Givens}!pseudo\_inverse.h@{pseudo\_inverse.h}}\index{pseudo\_inverse.h@{pseudo\_inverse.h}!Givens@{Givens}}}\mbox{\Hypertarget{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3aab4d4fdd6aa659e7306fa9abf3d0a991}\label{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3aab4d4fdd6aa659e7306fa9abf3d0a991}} 
+Givens&Givens algorithm. \\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{Gauss@{Gauss}!pseudo\_inverse.h@{pseudo\_inverse.h}}\index{pseudo\_inverse.h@{pseudo\_inverse.h}!Gauss@{Gauss}}}\mbox{\Hypertarget{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3ab15a7891aa5223439e4692a1048cb220}\label{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3ab15a7891aa5223439e4692a1048cb220}} 
+Gauss&Gaussian elimination with pivoting algorithm. \\
+\hline
+
+\end{DoxyEnumFields}
+
+
+Definition at line 30 of file pseudo\+\_\+inverse.\+h.
+
diff --git a/doc/doxygen/latex/qr__common_8c.tex b/doc/doxygen/latex/qr__common_8c.tex
new file mode 100644
index 0000000..e3ab5d0
--- /dev/null
+++ b/doc/doxygen/latex/qr__common_8c.tex
@@ -0,0 +1,97 @@
+\hypertarget{qr__common_8c}{}\doxysection{qr\+\_\+common.\+c File Reference}
+\label{qr__common_8c}\index{qr\_common.c@{qr\_common.c}}
+
+
+Common definitions and implementations for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{qr__common_8c_adad26253c0e08a0d9fe2dfe0f6d64112}{qr\+\_\+common\+\_\+backward\+\_\+subst}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implements the backward substitution algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{qr__common_8c_a47e88b1e236d3637717ea144811cdc1b}{qr\+\_\+common\+\_\+get\+\_\+reduced\+\_\+\+QR}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Q\mbox{[}m\mbox{]}\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} R\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} reduc\+\_\+Q\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} reduc\+\_\+R\mbox{[}n\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the reduced form of the Q\+R-\/decomposition algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Common definitions and implementations for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__common_8c_adad26253c0e08a0d9fe2dfe0f6d64112}\label{qr__common_8c_adad26253c0e08a0d9fe2dfe0f6d64112}} 
+\index{qr\_common.c@{qr\_common.c}!qr\_common\_backward\_subst@{qr\_common\_backward\_subst}}
+\index{qr\_common\_backward\_subst@{qr\_common\_backward\_subst}!qr\_common.c@{qr\_common.c}}
+\doxysubsubsection{\texorpdfstring{qr\_common\_backward\_subst()}{qr\_common\_backward\_subst()}}
+{\footnotesize\ttfamily void qr\+\_\+common\+\_\+backward\+\_\+subst (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Implements the backward substitution algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix U. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution of the substitution algorithm. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 28 of file qr\+\_\+common.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by solve\+\_\+givens(), solve\+\_\+householder(), and solve\+\_\+lu\+\_\+decomp().
+
+\mbox{\Hypertarget{qr__common_8c_a47e88b1e236d3637717ea144811cdc1b}\label{qr__common_8c_a47e88b1e236d3637717ea144811cdc1b}} 
+\index{qr\_common.c@{qr\_common.c}!qr\_common\_get\_reduced\_QR@{qr\_common\_get\_reduced\_QR}}
+\index{qr\_common\_get\_reduced\_QR@{qr\_common\_get\_reduced\_QR}!qr\_common.c@{qr\_common.c}}
+\doxysubsubsection{\texorpdfstring{qr\_common\_get\_reduced\_QR()}{qr\_common\_get\_reduced\_QR()}}
+{\footnotesize\ttfamily void qr\+\_\+common\+\_\+get\+\_\+reduced\+\_\+\+QR (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Q\mbox{[}m\mbox{]}\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{R\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{red\+\_\+Q\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{red\+\_\+R\mbox{[}n\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the reduced form of the Q\+R-\/decomposition algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix Q. \\
+\hline
+\mbox{\texttt{ in}}  & {\em R\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix R. \\
+\hline
+\mbox{\texttt{ out}}  & {\em red\+\_\+\+Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the reduced matrix Q. \\
+\hline
+\mbox{\texttt{ out}}  & {\em red\+\_\+\+R\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the reduced matrix R. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 59 of file qr\+\_\+common.\+c.
+
+
+
+References matrix\+\_\+part\+\_\+copy().
+
diff --git a/doc/doxygen/latex/qr__common_8h.tex b/doc/doxygen/latex/qr__common_8h.tex
new file mode 100644
index 0000000..25eb7e2
--- /dev/null
+++ b/doc/doxygen/latex/qr__common_8h.tex
@@ -0,0 +1,103 @@
+\hypertarget{qr__common_8h}{}\doxysection{qr\+\_\+common.\+h File Reference}
+\label{qr__common_8h}\index{qr\_common.h@{qr\_common.h}}
+
+
+Common definitions and implementations for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{qr__common_8h_ac62c54358ecc0c35cdef1c3fb37cc73b}\label{qr__common_8h_ac62c54358ecc0c35cdef1c3fb37cc73b}} 
+enum \mbox{\hyperlink{qr__common_8h_ac62c54358ecc0c35cdef1c3fb37cc73b}{Q\+R\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}} \{ {\bfseries Q\+R\+\_\+\+Householder}, 
+{\bfseries Q\+R\+\_\+\+Givens}
+ \}
+\begin{DoxyCompactList}\small\item\em Possible algorithms to compute the Q\+R-\/decomposition of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{qr__common_8h_adad26253c0e08a0d9fe2dfe0f6d64112}{qr\+\_\+common\+\_\+backward\+\_\+subst}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}m\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implements the backward substitution algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{qr__common_8h_a3144f99da14a69ec80bf9ded23714612}{qr\+\_\+common\+\_\+get\+\_\+reduced\+\_\+\+QR}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Q\mbox{[}m\mbox{]}\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} R\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} red\+\_\+Q\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} red\+\_\+R\mbox{[}n\mbox{]}\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the reduced form of the Q\+R-\/decomposition algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Common definitions and implementations for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__common_8h_adad26253c0e08a0d9fe2dfe0f6d64112}\label{qr__common_8h_adad26253c0e08a0d9fe2dfe0f6d64112}} 
+\index{qr\_common.h@{qr\_common.h}!qr\_common\_backward\_subst@{qr\_common\_backward\_subst}}
+\index{qr\_common\_backward\_subst@{qr\_common\_backward\_subst}!qr\_common.h@{qr\_common.h}}
+\doxysubsubsection{\texorpdfstring{qr\_common\_backward\_subst()}{qr\_common\_backward\_subst()}}
+{\footnotesize\ttfamily void qr\+\_\+common\+\_\+backward\+\_\+subst (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{U\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}m\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Implements the backward substitution algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix U. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution of the substitution algorithm. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 28 of file qr\+\_\+common.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by solve\+\_\+givens(), solve\+\_\+householder(), and solve\+\_\+lu\+\_\+decomp().
+
+\mbox{\Hypertarget{qr__common_8h_a3144f99da14a69ec80bf9ded23714612}\label{qr__common_8h_a3144f99da14a69ec80bf9ded23714612}} 
+\index{qr\_common.h@{qr\_common.h}!qr\_common\_get\_reduced\_QR@{qr\_common\_get\_reduced\_QR}}
+\index{qr\_common\_get\_reduced\_QR@{qr\_common\_get\_reduced\_QR}!qr\_common.h@{qr\_common.h}}
+\doxysubsubsection{\texorpdfstring{qr\_common\_get\_reduced\_QR()}{qr\_common\_get\_reduced\_QR()}}
+{\footnotesize\ttfamily void qr\+\_\+common\+\_\+get\+\_\+reduced\+\_\+\+QR (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Q\mbox{[}m\mbox{]}\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{R\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{red\+\_\+Q\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{red\+\_\+R\mbox{[}n\mbox{]}\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the reduced form of the Q\+R-\/decomposition algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix Q. \\
+\hline
+\mbox{\texttt{ in}}  & {\em R\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix R. \\
+\hline
+\mbox{\texttt{ out}}  & {\em red\+\_\+\+Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the reduced matrix Q. \\
+\hline
+\mbox{\texttt{ out}}  & {\em red\+\_\+\+R\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the reduced matrix R. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 59 of file qr\+\_\+common.\+c.
+
+
+
+References matrix\+\_\+part\+\_\+copy().
+
diff --git a/doc/doxygen/latex/qr__givens_8c.tex b/doc/doxygen/latex/qr__givens_8c.tex
new file mode 100644
index 0000000..7c7d475
--- /dev/null
+++ b/doc/doxygen/latex/qr__givens_8c.tex
@@ -0,0 +1,110 @@
+\hypertarget{qr__givens_8c}{}\doxysection{qr\+\_\+givens.\+c File Reference}
+\label{qr__givens_8c}\index{qr\_givens.c@{qr\_givens.c}}
+
+
+Givens algorithm for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using Givens rotations. A = QR, where Q is an (m $\times $ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$float.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+givens.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{qr__givens_8c_a07adca97c58afc057a5cff738f6473cc}{qr\+\_\+givens\+\_\+decomp}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t q\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]}, bool reduced)
+\begin{DoxyCompactList}\small\item\em Computes the QR decomposition of the matrix A by using the Givens algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{qr__givens_8c_a53f748fbc6f8a129deb6a048d423d644}{qr\+\_\+givens\+\_\+get\+\_\+params}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} xjj, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} xij, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} c\+\_\+s\+\_\+t\+\_\+r\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Givens parameters. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Givens algorithm for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using Givens rotations. A = QR, where Q is an (m $\times $ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__givens_8c_a07adca97c58afc057a5cff738f6473cc}\label{qr__givens_8c_a07adca97c58afc057a5cff738f6473cc}} 
+\index{qr\_givens.c@{qr\_givens.c}!qr\_givens\_decomp@{qr\_givens\_decomp}}
+\index{qr\_givens\_decomp@{qr\_givens\_decomp}!qr\_givens.c@{qr\_givens.c}}
+\doxysubsubsection{\texorpdfstring{qr\_givens\_decomp()}{qr\_givens\_decomp()}}
+{\footnotesize\ttfamily int8\+\_\+t qr\+\_\+givens\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{q\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]},  }\item[{bool}]{reduced }\end{DoxyParamCaption})}
+
+
+
+Computes the QR decomposition of the matrix A by using the Givens algorithm. 
+
+Gets a QR decomposition of an m-\/by-\/n matrix A such that A = Q$\ast$R. The compact as well as the full decomposition of the matrix can be computed.
+
+\begin{DoxyNote}{Note}
+R is stored in the matrix A.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrices A and R. \\
+\hline
+\mbox{\texttt{ in}}  & {\em q\+\_\+col\+\_\+num} & column number of the matrix Q. \\
+\hline
+\mbox{\texttt{ out}}  & {\em Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the Q matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em reduced} & computes the compact form of the QR decomposition if true, otherwise the full version.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if computing the QR decomposition is successful. 
+
+-\/1, if computing the QR decomposition is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 33 of file qr\+\_\+givens.\+c.
+
+
+
+References matrix\+\_\+clear(), matrix\+\_\+get\+\_\+upp\+\_\+triang(), matrix\+\_\+part\+\_\+copy(), matrix\+\_\+t, and qr\+\_\+givens\+\_\+get\+\_\+params().
+
+
+
+Referenced by givens\+\_\+test(), and solve\+\_\+givens().
+
+\mbox{\Hypertarget{qr__givens_8c_a53f748fbc6f8a129deb6a048d423d644}\label{qr__givens_8c_a53f748fbc6f8a129deb6a048d423d644}} 
+\index{qr\_givens.c@{qr\_givens.c}!qr\_givens\_get\_params@{qr\_givens\_get\_params}}
+\index{qr\_givens\_get\_params@{qr\_givens\_get\_params}!qr\_givens.c@{qr\_givens.c}}
+\doxysubsubsection{\texorpdfstring{qr\_givens\_get\_params()}{qr\_givens\_get\_params()}}
+{\footnotesize\ttfamily void qr\+\_\+givens\+\_\+get\+\_\+params (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{xjj,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{xij,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{c\+\_\+s\+\_\+t\+\_\+r\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Givens parameters. 
+
+The computation of the parameters c, s, t, and r can have problems with overflow or underflow, therefore this algorithm employs a normalization procedure. The Givens parameters c, s, t and r are saved in a vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em xjj} & value at the diagonal j of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em xij} & value at the index j of a column vector i. \\
+\hline
+\mbox{\texttt{ out}}  & {\em c\+\_\+s\+\_\+t\+\_\+r\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector holding the c, s, t and r parameters. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 110 of file qr\+\_\+givens.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by givens\+\_\+test(), and qr\+\_\+givens\+\_\+decomp().
+
diff --git a/doc/doxygen/latex/qr__givens_8h.tex b/doc/doxygen/latex/qr__givens_8h.tex
new file mode 100644
index 0000000..00ea648
--- /dev/null
+++ b/doc/doxygen/latex/qr__givens_8h.tex
@@ -0,0 +1,107 @@
+\hypertarget{qr__givens_8h}{}\doxysection{qr\+\_\+givens.\+h File Reference}
+\label{qr__givens_8h}\index{qr\_givens.h@{qr\_givens.h}}
+
+
+Givens algorithm for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using Givens rotations. A = QR, where Q is an (m $\times$ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{qr__givens_8h_a07adca97c58afc057a5cff738f6473cc}{qr\+\_\+givens\+\_\+decomp}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t q\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]}, bool reduced)
+\begin{DoxyCompactList}\small\item\em Computes the QR decomposition of the matrix A by using the Givens algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{qr__givens_8h_a53f748fbc6f8a129deb6a048d423d644}{qr\+\_\+givens\+\_\+get\+\_\+params}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} xjj, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} xij, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} c\+\_\+s\+\_\+t\+\_\+r\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Givens parameters. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Givens algorithm for the Q\+R-\/decomposition. Provide necessary methods to construct Q-\/ and R-\/ matrices using Givens rotations. A = QR, where Q is an (m $\times$ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__givens_8h_a07adca97c58afc057a5cff738f6473cc}\label{qr__givens_8h_a07adca97c58afc057a5cff738f6473cc}} 
+\index{qr\_givens.h@{qr\_givens.h}!qr\_givens\_decomp@{qr\_givens\_decomp}}
+\index{qr\_givens\_decomp@{qr\_givens\_decomp}!qr\_givens.h@{qr\_givens.h}}
+\doxysubsubsection{\texorpdfstring{qr\_givens\_decomp()}{qr\_givens\_decomp()}}
+{\footnotesize\ttfamily int8\+\_\+t qr\+\_\+givens\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{q\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]},  }\item[{bool}]{reduced }\end{DoxyParamCaption})}
+
+
+
+Computes the QR decomposition of the matrix A by using the Givens algorithm. 
+
+Gets a QR decomposition of an m-\/by-\/n matrix A such that A = Q$\ast$R. The compact as well as the full decomposition of the matrix can be computed.
+
+\begin{DoxyNote}{Note}
+R is stored in the matrix A.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrices A and R. \\
+\hline
+\mbox{\texttt{ in}}  & {\em q\+\_\+col\+\_\+num} & column number of the matrix Q. \\
+\hline
+\mbox{\texttt{ out}}  & {\em Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the Q matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em reduced} & computes the compact form of the QR decomposition if true, otherwise the full version.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if computing the QR decomposition is successful. 
+
+-\/1, if computing the QR decomposition is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 33 of file qr\+\_\+givens.\+c.
+
+
+
+References matrix\+\_\+clear(), matrix\+\_\+get\+\_\+upp\+\_\+triang(), matrix\+\_\+part\+\_\+copy(), matrix\+\_\+t, and qr\+\_\+givens\+\_\+get\+\_\+params().
+
+
+
+Referenced by givens\+\_\+test(), and solve\+\_\+givens().
+
+\mbox{\Hypertarget{qr__givens_8h_a53f748fbc6f8a129deb6a048d423d644}\label{qr__givens_8h_a53f748fbc6f8a129deb6a048d423d644}} 
+\index{qr\_givens.h@{qr\_givens.h}!qr\_givens\_get\_params@{qr\_givens\_get\_params}}
+\index{qr\_givens\_get\_params@{qr\_givens\_get\_params}!qr\_givens.h@{qr\_givens.h}}
+\doxysubsubsection{\texorpdfstring{qr\_givens\_get\_params()}{qr\_givens\_get\_params()}}
+{\footnotesize\ttfamily void qr\+\_\+givens\+\_\+get\+\_\+params (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{xjj,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{xij,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{c\+\_\+s\+\_\+t\+\_\+r\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Givens parameters. 
+
+The computation of the parameters c, s, t, and r can have problems with overflow or underflow, therefore this algorithm employs a normalization procedure. The Givens parameters c, s, t and r are saved in a vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em xjj} & value at the diagonal j of the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em xij} & value at the index j of a column vector i. \\
+\hline
+\mbox{\texttt{ out}}  & {\em c\+\_\+s\+\_\+t\+\_\+r\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector holding the c, s, t and r parameters. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 110 of file qr\+\_\+givens.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by givens\+\_\+test(), and qr\+\_\+givens\+\_\+decomp().
+
diff --git a/doc/doxygen/latex/qr__householder_8c.tex b/doc/doxygen/latex/qr__householder_8c.tex
new file mode 100644
index 0000000..58d6ba2
--- /dev/null
+++ b/doc/doxygen/latex/qr__householder_8c.tex
@@ -0,0 +1,75 @@
+\hypertarget{qr__householder_8c}{}\doxysection{qr\+\_\+householder.\+c File Reference}
+\label{qr__householder_8c}\index{qr\_householder.c@{qr\_householder.c}}
+
+
+Householder algorithm for the Q\+R-\/decomposition.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{qr__householder_8c_a926e8bce91b658f64837d5c93b0bc74f}{qr\+\_\+householder\+\_\+decomp}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t q\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]}, bool reduced)
+\begin{DoxyCompactList}\small\item\em Computes the QR decomposition of the matrix A by using the Householder algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Householder algorithm for the Q\+R-\/decomposition. 
+
+Provide necessary methods to construct Q-\/ and R-\/ matrices using Householder reflections. A = QR, where Q is an (m $\times$ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__householder_8c_a926e8bce91b658f64837d5c93b0bc74f}\label{qr__householder_8c_a926e8bce91b658f64837d5c93b0bc74f}} 
+\index{qr\_householder.c@{qr\_householder.c}!qr\_householder\_decomp@{qr\_householder\_decomp}}
+\index{qr\_householder\_decomp@{qr\_householder\_decomp}!qr\_householder.c@{qr\_householder.c}}
+\doxysubsubsection{\texorpdfstring{qr\_householder\_decomp()}{qr\_householder\_decomp()}}
+{\footnotesize\ttfamily int8\+\_\+t qr\+\_\+householder\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{q\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]},  }\item[{bool}]{reduced }\end{DoxyParamCaption})}
+
+
+
+Computes the QR decomposition of the matrix A by using the Householder algorithm. 
+
+\begin{DoxyNote}{Note}
+R is stored in the matrix A.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose in QR. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose in QR. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrices A and R. \\
+\hline
+\mbox{\texttt{ in}}  & {\em q\+\_\+col\+\_\+num} & column number of the matrix Q. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix Q. \\
+\hline
+\mbox{\texttt{ in}}  & {\em reduced} & computes the compact form of the QR decomposition if true, otherwise the full version.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if computing the QR decomposition is successful. 
+
+-\/1, if computing the QR decomposition is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 33 of file qr\+\_\+householder.\+c.
+
+
+
+References matrix\+\_\+t, and utils\+\_\+get\+\_\+save\+\_\+square\+\_\+root().
+
+
+
+Referenced by householder\+\_\+test(), and solve\+\_\+householder().
+
diff --git a/doc/doxygen/latex/qr__householder_8h.tex b/doc/doxygen/latex/qr__householder_8h.tex
new file mode 100644
index 0000000..4de042d
--- /dev/null
+++ b/doc/doxygen/latex/qr__householder_8h.tex
@@ -0,0 +1,72 @@
+\hypertarget{qr__householder_8h}{}\doxysection{qr\+\_\+householder.\+h File Reference}
+\label{qr__householder_8h}\index{qr\_householder.h@{qr\_householder.h}}
+
+
+Householder algorithm for the Q\+R-\/decomposition.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{qr__householder_8h_a926e8bce91b658f64837d5c93b0bc74f}{qr\+\_\+householder\+\_\+decomp}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t q\+\_\+col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]}, bool reduced)
+\begin{DoxyCompactList}\small\item\em Computes the QR decomposition of the matrix A by using the Householder algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Householder algorithm for the Q\+R-\/decomposition. 
+
+Provide necessary methods to construct Q-\/ and R-\/ matrices using Householder reflections. A = QR, where Q is an (m $\times$ n)-\/matrix with orthonormal columns and R is an (n $\times$ n) upper triangular matrix.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__householder_8h_a926e8bce91b658f64837d5c93b0bc74f}\label{qr__householder_8h_a926e8bce91b658f64837d5c93b0bc74f}} 
+\index{qr\_householder.h@{qr\_householder.h}!qr\_householder\_decomp@{qr\_householder\_decomp}}
+\index{qr\_householder\_decomp@{qr\_householder\_decomp}!qr\_householder.h@{qr\_householder.h}}
+\doxysubsubsection{\texorpdfstring{qr\_householder\_decomp()}{qr\_householder\_decomp()}}
+{\footnotesize\ttfamily int8\+\_\+t qr\+\_\+householder\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{q\+\_\+col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Q\mbox{[}$\,$\mbox{]}\mbox{[}q\+\_\+col\+\_\+num\mbox{]},  }\item[{bool}]{reduced }\end{DoxyParamCaption})}
+
+
+
+Computes the QR decomposition of the matrix A by using the Householder algorithm. 
+
+\begin{DoxyNote}{Note}
+R is stored in the matrix A.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose in QR. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose in QR. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrices A and R. \\
+\hline
+\mbox{\texttt{ in}}  & {\em q\+\_\+col\+\_\+num} & column number of the matrix Q. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em Q\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix Q. \\
+\hline
+\mbox{\texttt{ in}}  & {\em reduced} & computes the compact form of the QR decomposition if true, otherwise the full version.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if computing the QR decomposition is successful. 
+
+-\/1, if computing the QR decomposition is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 33 of file qr\+\_\+householder.\+c.
+
+
+
+References matrix\+\_\+t, and utils\+\_\+get\+\_\+save\+\_\+square\+\_\+root().
+
+
+
+Referenced by householder\+\_\+test(), and solve\+\_\+householder().
+
diff --git a/doc/doxygen/latex/qr__pinv__test_8c.tex b/doc/doxygen/latex/qr__pinv__test_8c.tex
new file mode 100644
index 0000000..b02d5c5
--- /dev/null
+++ b/doc/doxygen/latex/qr__pinv__test_8c.tex
@@ -0,0 +1,27 @@
+\hypertarget{qr__pinv__test_8c}{}\doxysection{qr\+\_\+pinv\+\_\+test.\+c File Reference}
+\label{qr__pinv__test_8c}\index{qr\_pinv\_test.c@{qr\_pinv\_test.c}}
+
+
+Examples of the Q\+R-\/based pseudo-\/inverse algorithm.  
+
+
+{\ttfamily \#include $<$qr\+\_\+pseudo\+\_\+inverse.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+common.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{qr__pinv__test_8c_a292d2351f35310e579dd0741ab4857db}\label{qr__pinv__test_8c_a292d2351f35310e579dd0741ab4857db}} 
+void \mbox{\hyperlink{qr__pinv__test_8c_a292d2351f35310e579dd0741ab4857db}{qr\+\_\+pinv\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Q\+R-\/based pseudo-\/inverse algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Q\+R-\/based pseudo-\/inverse algorithm. 
+
+Q\+R-\/based pseudo-\/inverse algorithm examples (see the \mbox{\hyperlink{qr__pseudo__inverse_8h}{QR Pseudo-\/\+Inverse}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/qr__pinv__test_8h.tex b/doc/doxygen/latex/qr__pinv__test_8h.tex
new file mode 100644
index 0000000..3b30556
--- /dev/null
+++ b/doc/doxygen/latex/qr__pinv__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{qr__pinv__test_8h}{}\doxysection{qr\+\_\+pinv\+\_\+test.\+h File Reference}
+\label{qr__pinv__test_8h}\index{qr\_pinv\_test.h@{qr\_pinv\_test.h}}
+
+
+Examples of the Q\+R-\/based pseudo-\/inverse algorithm.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{qr__pinv__test_8h_a292d2351f35310e579dd0741ab4857db}\label{qr__pinv__test_8h_a292d2351f35310e579dd0741ab4857db}} 
+void \mbox{\hyperlink{qr__pinv__test_8h_a292d2351f35310e579dd0741ab4857db}{qr\+\_\+pinv\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Q\+R-\/based pseudo-\/inverse algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the Q\+R-\/based pseudo-\/inverse algorithm. 
+
+Q\+R-\/based pseudo-\/inverse algorithm examples (see the \mbox{\hyperlink{qr__pseudo__inverse_8h}{QR Pseudo-\/\+Inverse}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/qr__pseudo__inverse_8c.tex b/doc/doxygen/latex/qr__pseudo__inverse_8c.tex
new file mode 100644
index 0000000..d3540c4
--- /dev/null
+++ b/doc/doxygen/latex/qr__pseudo__inverse_8c.tex
@@ -0,0 +1,70 @@
+\hypertarget{qr__pseudo__inverse_8c}{}\doxysection{qr\+\_\+pseudo\+\_\+inverse.\+c File Reference}
+\label{qr__pseudo__inverse_8c}\index{qr\_pseudo\_inverse.c@{qr\_pseudo\_inverse.c}}
+
+
+QR decomposition algorithms to compute the pseudo-\/inverse of a matrix.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+common.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+givens.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+householder.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{qr__pseudo__inverse_8c_a9fb1ebdfe21c5a66cd322f00bf886d8d}{qr\+\_\+get\+\_\+pinv}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]}, enum \mbox{\hyperlink{qr__common_8h_ac62c54358ecc0c35cdef1c3fb37cc73b}{Q\+R\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}} algo)
+\begin{DoxyCompactList}\small\item\em Calculate the pseudo inverse of a rectangular matrix using the QR decomposition. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+QR decomposition algorithms to compute the pseudo-\/inverse of a matrix. 
+
+The computation of the pseudo-\/inverse is implemented using the Householder or the Givens algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__pseudo__inverse_8c_a9fb1ebdfe21c5a66cd322f00bf886d8d}\label{qr__pseudo__inverse_8c_a9fb1ebdfe21c5a66cd322f00bf886d8d}} 
+\index{qr\_pseudo\_inverse.c@{qr\_pseudo\_inverse.c}!qr\_get\_pinv@{qr\_get\_pinv}}
+\index{qr\_get\_pinv@{qr\_get\_pinv}!qr\_pseudo\_inverse.c@{qr\_pseudo\_inverse.c}}
+\doxysubsubsection{\texorpdfstring{qr\_get\_pinv()}{qr\_get\_pinv()}}
+{\footnotesize\ttfamily int8\+\_\+t qr\+\_\+get\+\_\+pinv (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]},  }\item[{enum \mbox{\hyperlink{qr__common_8h_ac62c54358ecc0c35cdef1c3fb37cc73b}{Q\+R\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}}}]{algo }\end{DoxyParamCaption})}
+
+
+
+Calculate the pseudo inverse of a rectangular matrix using the QR decomposition. 
+
+The computation of the pseudo inverse is based on the Householder or Givens algorithm.
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ out}}  & {\em pinv\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em algo} & choice between the Householder or Givens algorithms.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if computing the pseudo-\/inverse matrix is successful. 
+
+-\/1, if computing the pseudo-\/inverse matrix is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 32 of file qr\+\_\+pseudo\+\_\+inverse.\+c.
+
+
+
+Referenced by qr\+\_\+pinv\+\_\+test().
+
diff --git a/doc/doxygen/latex/qr__pseudo__inverse_8h.tex b/doc/doxygen/latex/qr__pseudo__inverse_8h.tex
new file mode 100644
index 0000000..24f6315
--- /dev/null
+++ b/doc/doxygen/latex/qr__pseudo__inverse_8h.tex
@@ -0,0 +1,66 @@
+\hypertarget{qr__pseudo__inverse_8h}{}\doxysection{qr\+\_\+pseudo\+\_\+inverse.\+h File Reference}
+\label{qr__pseudo__inverse_8h}\index{qr\_pseudo\_inverse.h@{qr\_pseudo\_inverse.h}}
+
+
+QR decomposition algorithms to compute the pseudo-\/inverse of a matrix.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+common.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{qr__pseudo__inverse_8h_a9fb1ebdfe21c5a66cd322f00bf886d8d}{qr\+\_\+get\+\_\+pinv}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]}, enum \mbox{\hyperlink{qr__common_8h_ac62c54358ecc0c35cdef1c3fb37cc73b}{Q\+R\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}} algo)
+\begin{DoxyCompactList}\small\item\em Calculate the pseudo inverse of a rectangular matrix using the QR decomposition. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+QR decomposition algorithms to compute the pseudo-\/inverse of a matrix. 
+
+The computation of the pseudo-\/inverse is implemented using the Householder or the Givens algorithms.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{qr__pseudo__inverse_8h_a9fb1ebdfe21c5a66cd322f00bf886d8d}\label{qr__pseudo__inverse_8h_a9fb1ebdfe21c5a66cd322f00bf886d8d}} 
+\index{qr\_pseudo\_inverse.h@{qr\_pseudo\_inverse.h}!qr\_get\_pinv@{qr\_get\_pinv}}
+\index{qr\_get\_pinv@{qr\_get\_pinv}!qr\_pseudo\_inverse.h@{qr\_pseudo\_inverse.h}}
+\doxysubsubsection{\texorpdfstring{qr\_get\_pinv()}{qr\_get\_pinv()}}
+{\footnotesize\ttfamily int8\+\_\+t qr\+\_\+get\+\_\+pinv (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pinv\+\_\+A\mbox{[}n\mbox{]}\mbox{[}m\mbox{]},  }\item[{enum \mbox{\hyperlink{qr__common_8h_ac62c54358ecc0c35cdef1c3fb37cc73b}{Q\+R\+\_\+\+A\+L\+G\+O\+R\+I\+T\+HM}}}]{algo }\end{DoxyParamCaption})}
+
+
+
+Calculate the pseudo inverse of a rectangular matrix using the QR decomposition. 
+
+The computation of the pseudo inverse is based on the Householder or Givens algorithm.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to inverse. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ out}}  & {\em pinv\+\_\+\+A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em algo} & choice between the Householder or Givens algorithms.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if computing the pseudo-\/inverse matrix is successful. 
+
+-\/1, if computing the pseudo-\/inverse matrix is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 32 of file qr\+\_\+pseudo\+\_\+inverse.\+c.
+
+
+
+Referenced by qr\+\_\+pinv\+\_\+test().
+
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new file mode 100644
index 0000000..13e9ddf
--- /dev/null
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+
+ []
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+[]\T1/phv/m/n/10 References matrix[]_[]t, moore[]_[]penrose[]_[]get[]_[]pinv(),
+ trilateration[]_[]get[]_[][]A[]_[]matrix(), trilateration[]_[]get[]_[]b[]_[]ve
+ctor(),
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+Underfull \hbox (badness 6173) in paragraph at lines 123--124
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+[]\T1/phv/m/n/10 References matrix[]_[]t, moore[]_[]penrose[]_[]get[]_[]pinv(),
+ trilateration[]_[]get[]_[][]A[]_[]matrix(), trilateration[]_[]get[]_[]b[]_[]ve
+ctor(),
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diff --git a/doc/doxygen/latex/refman.tex b/doc/doxygen/latex/refman.tex
new file mode 100644
index 0000000..aa899f8
--- /dev/null
+++ b/doc/doxygen/latex/refman.tex
@@ -0,0 +1,319 @@
+\let\mypdfximage\pdfximage\def\pdfximage{\immediate\mypdfximage}\documentclass[twoside]{book}
+
+%% moved from doxygen.sty due to workaround for LaTex 2019 version and unmaintained tabu package
+\usepackage{ifthen}
+\ifx\requestedLaTeXdate\undefined
+\usepackage{array}
+\else
+\usepackage{array}[=2016-10-06]
+\fi
+%%
+% Packages required by doxygen
+\usepackage{fixltx2e}
+\usepackage{calc}
+\usepackage{doxygen}
+\usepackage{graphicx}
+\usepackage[utf8]{inputenc}
+\usepackage{makeidx}
+\usepackage{multicol}
+\usepackage{multirow}
+\PassOptionsToPackage{warn}{textcomp}
+\usepackage{textcomp}
+\usepackage[nointegrals]{wasysym}
+\usepackage[table]{xcolor}
+\usepackage{ifpdf,ifxetex}
+
+% Font selection
+\usepackage[T1]{fontenc}
+\usepackage[scaled=.90]{helvet}
+\usepackage{courier}
+\usepackage{amssymb}
+\usepackage{sectsty}
+\renewcommand{\familydefault}{\sfdefault}
+\allsectionsfont{%
+  \fontseries{bc}\selectfont%
+  \color{darkgray}%
+}
+\renewcommand{\DoxyLabelFont}{%
+  \fontseries{bc}\selectfont%
+  \color{darkgray}%
+}
+\newcommand{\+}{\discretionary{\mbox{\scriptsize$\hookleftarrow$}}{}{}}
+
+% Arguments of doxygenemoji:
+% 1) ':<text>:' form of the emoji, already "LaTeX"-escaped
+% 2) file with the name of the emoji without the .png extension
+% in case image exist use this otherwise use the ':<text>:' form
+\newcommand{\doxygenemoji}[2]{%
+  \IfFileExists{./#2.png}{\raisebox{-0.1em}{\includegraphics[height=0.9em]{./#2.png}}}{#1}%
+}
+% Page & text layout
+\usepackage{geometry}
+\geometry{%
+  a4paper,%
+  top=2.5cm,%
+  bottom=2.5cm,%
+  left=2.5cm,%
+  right=2.5cm%
+}
+\tolerance=750
+\hfuzz=15pt
+\hbadness=750
+\setlength{\emergencystretch}{15pt}
+\setlength{\parindent}{0cm}
+\newcommand{\doxynormalparskip}{\setlength{\parskip}{3ex plus 2ex minus 2ex}}
+\newcommand{\doxytocparskip}{\setlength{\parskip}{1ex plus 0ex minus 0ex}}
+\doxynormalparskip
+\makeatletter
+\renewcommand{\paragraph}{%
+  \@startsection{paragraph}{4}{0ex}{-1.0ex}{1.0ex}{%
+    \normalfont\normalsize\bfseries\SS@parafont%
+  }%
+}
+\renewcommand{\subparagraph}{%
+  \@startsection{subparagraph}{5}{0ex}{-1.0ex}{1.0ex}{%
+    \normalfont\normalsize\bfseries\SS@subparafont%
+  }%
+}
+\makeatother
+
+% Headers & footers
+\usepackage{fancyhdr}
+\pagestyle{fancyplain}
+\fancyhead[LE]{\fancyplain{}{\bfseries\thepage}}
+\fancyhead[CE]{\fancyplain{}{}}
+\fancyhead[RE]{\fancyplain{}{\bfseries\leftmark}}
+\fancyhead[LO]{\fancyplain{}{\bfseries\rightmark}}
+\fancyhead[CO]{\fancyplain{}{}}
+\fancyhead[RO]{\fancyplain{}{\bfseries\thepage}}
+\fancyfoot[LE]{\fancyplain{}{}}
+\fancyfoot[CE]{\fancyplain{}{}}
+\fancyfoot[RE]{\fancyplain{}{\bfseries\scriptsize Generated by Doxygen }}
+\fancyfoot[LO]{\fancyplain{}{\bfseries\scriptsize Generated by Doxygen }}
+\fancyfoot[CO]{\fancyplain{}{}}
+\fancyfoot[RO]{\fancyplain{}{}}
+\renewcommand{\footrulewidth}{0.4pt}
+\renewcommand{\chaptermark}[1]{%
+  \markboth{#1}{}%
+}
+\renewcommand{\sectionmark}[1]{%
+  \markright{\thesection\ #1}%
+}
+
+% Indices & bibliography
+\usepackage{natbib}
+\usepackage[titles]{tocloft}
+\setcounter{tocdepth}{3}
+\setcounter{secnumdepth}{5}
+\makeindex
+
+% Packages requested by user
+\usepackage{amsmath}
+\usepackage{svg}
+
+\usepackage{newunicodechar}
+  \newunicodechar{⁻}{${}^{-}$}% Superscript minus
+  \newunicodechar{²}{${}^{2}$}% Superscript two
+  \newunicodechar{³}{${}^{3}$}% Superscript three
+
+% Hyperlinks (required, but should be loaded last)
+\ifpdf
+  \usepackage[pdftex,pagebackref=true]{hyperref}
+\else
+  \ifxetex
+    \usepackage[pagebackref=true]{hyperref}
+  \else
+    \usepackage[ps2pdf,pagebackref=true]{hyperref}
+  \fi
+\fi
+
+\hypersetup{%
+  colorlinks=true,%
+  linkcolor=blue,%
+  citecolor=blue,%
+  unicode%
+}
+
+% Custom commands
+\newcommand{\clearemptydoublepage}{%
+  \newpage{\pagestyle{empty}\cleardoublepage}%
+}
+
+\usepackage{caption}
+\captionsetup{labelsep=space,justification=centering,font={bf},singlelinecheck=off,skip=4pt,position=top}
+
+\usepackage{etoc}
+\etocsettocstyle{\doxytocparskip}{\doxynormalparskip}
+\renewcommand{\numberline}[1]{#1~}
+%===== C O N T E N T S =====
+
+\begin{document}
+
+% Titlepage & ToC
+\hypersetup{pageanchor=false,
+             bookmarksnumbered=true,
+             pdfencoding=unicode
+            }
+\pagenumbering{alph}
+\begin{titlepage}
+\vspace*{7cm}
+\begin{center}%
+{\Large Rcd\+Math\+Lib\+\_\+doc }\\
+\vspace*{1cm}
+{\large Generated by Doxygen 1.8.16}\\
+\end{center}
+\end{titlepage}
+\clearemptydoublepage
+\pagenumbering{roman}
+\tableofcontents
+\clearemptydoublepage
+\pagenumbering{arabic}
+\hypersetup{pageanchor=true}
+
+%--- Begin generated contents ---
+\chapter{Rcd\+Math\+Lib Documentation}
+\label{index}\hypertarget{index}{}\input{index}
+\chapter{Creating an application}
+\label{creating-an-application}
+\Hypertarget{creating-an-application}
+\input{creating-an-application}
+\chapter{Creating modules}
+\label{creating-modules}
+\Hypertarget{creating-modules}
+\input{creating-modules}
+\chapter{Getting started}
+\label{getting-started}
+\Hypertarget{getting-started}
+\input{getting-started}
+\chapter{Module Index}
+\input{modules}
+\chapter{Data Structure Index}
+\input{annotated}
+\chapter{File Index}
+\input{files}
+\chapter{Module Documentation}
+\input{group__basic__operations}
+\include{group__distance__based}
+\include{group__examples}
+\include{group__linear__algebra}
+\include{group__localization}
+\include{group__magnetic__based}
+\include{group__matrix__decompositions}
+\include{group__non__linear__algebra}
+\include{group__optimization}
+\include{group__position__algos}
+\include{group__position__optimization}
+\include{group__pos__algos__common}
+\include{group__pseudo__inverse}
+\include{group__solve__linear__equations}
+\include{group__solve__non__linear__equations}
+\include{group__utilities}
+\chapter{Data Structure Documentation}
+\input{structmatrix__dim__t}
+\chapter{File Documentation}
+\input{combinatorics_8c}
+\input{combinatorics_8h}
+\input{damped__newton__raphson_8c}
+\input{damped__newton__raphson_8h}
+\input{dist__based__fi_8c}
+\input{dist__based__fi_8h}
+\input{dist__based__jacobian_8c}
+\input{dist__based__jacobian_8h}
+\input{dist__based__position_8c}
+\input{dist__based__position_8h}
+\input{distance__based__test_8c}
+\input{distance__based__test_8h}
+\input{DOP_8c}
+\input{DOP_8h}
+\input{fsolve_8c}
+\input{fsolve_8h}
+\input{fsolve__test_8c}
+\input{fsolve__test_8h}
+\input{givens__test_8c}
+\input{givens__test_8h}
+\input{householder__test_8c}
+\input{householder__test_8h}
+\input{levenberg__marquardt_8c}
+\input{levenberg__marquardt_8h}
+\input{loc__gauss__newton_8c}
+\input{loc__gauss__newton_8h}
+\input{loc__levenberg__marquardt_8c}
+\input{loc__levenberg__marquardt_8h}
+\input{lu__decomp_8c}
+\input{lu__decomp_8h}
+\input{lu__decomp__test_8c}
+\input{lu__decomp__test_8h}
+\input{magnetic__based__fi_8c}
+\input{magnetic__based__fi_8h}
+\input{magnetic__based__jacobian_8c}
+\input{magnetic__based__jacobian_8h}
+\input{magnetic__based__position_8c}
+\input{magnetic__based__position_8h}
+\input{magnetic__based__test_8c}
+\input{magnetic__based__test_8h}
+\input{matrix_8c}
+\input{matrix_8h}
+\input{matrix__test_8c}
+\input{matrix__test_8h}
+\input{modified__gauss__newton_8c}
+\input{modified__gauss__newton_8h}
+\input{moore__penrose__pinv__test_8c}
+\input{moore__penrose__pinv__test_8h}
+\input{moore__penrose__pseudo__inverse_8c}
+\input{moore__penrose__pseudo__inverse_8h}
+\input{multipath__algo__own__norm__distr__test_8c}
+\input{multipath__algo__own__norm__distr__test_8h}
+\input{multipath__dist__detection__mitigation_8c}
+\input{multipath__dist__detection__mitigation_8h}
+\input{newton__raphson_8c}
+\input{newton__raphson_8h}
+\input{norm__dist__rnd__generator_8c}
+\input{norm__dist__rnd__generator_8h}
+\input{optimization__test_8c}
+\input{optimization__test_8h}
+\input{pos__algos__common__test_8c}
+\input{pos__algos__common__test_8h}
+\input{position__optimization__test_8c}
+\input{position__optimization__test_8h}
+\input{pseudo__inverse_8h}
+\input{qr__common_8c}
+\input{qr__common_8h}
+\input{qr__givens_8c}
+\input{qr__givens_8h}
+\input{qr__householder_8c}
+\input{qr__householder_8h}
+\input{qr__pinv__test_8c}
+\input{qr__pinv__test_8h}
+\input{qr__pseudo__inverse_8c}
+\input{qr__pseudo__inverse_8h}
+\input{shell__sort_8c}
+\input{shell__sort_8h}
+\input{solve_8c}
+\input{solve_8h}
+\input{solve__test_8c}
+\input{solve__test_8h}
+\input{svd_8c}
+\input{svd_8h}
+\input{svd__test_8c}
+\input{svd__test_8h}
+\input{trilateration_8c}
+\input{trilateration_8h}
+\input{utils_8c}
+\input{utils_8h}
+\input{utils__test_8c}
+\input{utils__test_8h}
+\input{vector_8c}
+\input{vector_8h}
+\input{vector__test_8c}
+\input{vector__test_8h}
+%--- End generated contents ---
+
+% Index
+\backmatter
+\newpage
+\phantomsection
+\clearemptydoublepage
+\addcontentsline{toc}{chapter}{\indexname}
+\printindex
+
+\end{document}
diff --git a/doc/doxygen/latex/refman.toc b/doc/doxygen/latex/refman.toc
new file mode 100644
index 0000000..e5d65ba
--- /dev/null
+++ b/doc/doxygen/latex/refman.toc
@@ -0,0 +1,669 @@
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+\contentsline {chapter}{\numberline {1}Rcd\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Math\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Lib Documentation}{1}{chapter.1}
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+\contentsline {section}{\numberline {1.2}Download and use Rcd\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Math\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Lib}{1}{section.1.2}
+\contentsline {section}{\numberline {1.3}The quickest start}{1}{section.1.3}
+\contentsline {section}{\numberline {1.4}Structure}{2}{section.1.4}
+\contentsline {subsection}{\numberline {1.4.1}Linear Algebra}{2}{subsection.1.4.1}
+\contentsline {subsection}{\numberline {1.4.2}Non-\/\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Linear Algebra}{3}{subsection.1.4.2}
+\contentsline {subsection}{\numberline {1.4.3}Localization}{3}{subsection.1.4.3}
+\contentsline {subsection}{\numberline {1.4.4}examples}{3}{subsection.1.4.4}
+\contentsline {subsection}{\numberline {1.4.5}doc}{3}{subsection.1.4.5}
+\contentsline {section}{\numberline {1.5}Further information}{3}{section.1.5}
+\contentsline {chapter}{\numberline {2}Creating an application}{5}{chapter.2}
+\contentsline {section}{\numberline {2.1}Creating an application for full-\/fledged devices}{5}{section.2.1}
+\contentsline {section}{\numberline {2.2}Creating an application for resource-\/limited devices}{5}{section.2.2}
+\contentsline {section}{\numberline {2.3}The main function}{5}{section.2.3}
+\contentsline {section}{\numberline {2.4}The application\textquotesingle {}s Makefile}{6}{section.2.4}
+\contentsline {subsection}{\numberline {2.4.1}The minimal Makefile}{6}{subsection.2.4.1}
+\contentsline {subsection}{\numberline {2.4.2}Including modules}{6}{subsection.2.4.2}
+\contentsline {chapter}{\numberline {3}Creating modules}{7}{chapter.3}
+\contentsline {section}{\numberline {3.1}The general structure}{7}{section.3.1}
+\contentsline {section}{\numberline {3.2}Module dependencies}{8}{section.3.2}
+\contentsline {chapter}{\numberline {4}Getting started}{9}{chapter.4}
+\contentsline {section}{\numberline {4.1}Downloading Rcd\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Math\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Lib code}{9}{section.4.1}
+\contentsline {section}{\numberline {4.2}Compiling Rcd\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Math\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Lib}{9}{section.4.2}
+\contentsline {subsection}{\numberline {4.2.1}Setting up a toolchain for full-\/fledged devices}{9}{subsection.4.2.1}
+\contentsline {subsection}{\numberline {4.2.2}Setting up a toolchain for resource-\/limited devices}{10}{subsection.4.2.2}
+\contentsline {subsection}{\numberline {4.2.3}The build system for full-\/fledged devices}{10}{subsection.4.2.3}
+\contentsline {subsection}{\numberline {4.2.4}The build system for resource-\/limited devices}{11}{subsection.4.2.4}
+\contentsline {subsection}{\numberline {4.2.5}Building and executing an example for resource-\/limited devices}{12}{subsection.4.2.5}
+\contentsline {chapter}{\numberline {5}Module Index}{13}{chapter.5}
+\contentsline {section}{\numberline {5.1}Modules}{13}{section.5.1}
+\contentsline {chapter}{\numberline {6}Data Structure Index}{15}{chapter.6}
+\contentsline {section}{\numberline {6.1}Data Structures}{15}{section.6.1}
+\contentsline {chapter}{\numberline {7}File Index}{17}{chapter.7}
+\contentsline {section}{\numberline {7.1}File List}{17}{section.7.1}
+\contentsline {chapter}{\numberline {8}Module Documentation}{21}{chapter.8}
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+\contentsline {subsection}{\numberline {8.2.1}Detailed Description}{22}{subsection.8.2.1}
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+\contentsline {subsection}{\numberline {8.6.1}Detailed Description}{26}{subsection.8.6.1}
+\contentsline {section}{\numberline {8.7}M\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}R\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}X\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}D\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}C\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}M\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}P\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}S\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}NS}{27}{section.8.7}
+\contentsline {subsection}{\numberline {8.7.1}Detailed Description}{27}{subsection.8.7.1}
+\contentsline {section}{\numberline {8.8}N\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}N\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}L\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}N\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}R\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}L\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}G\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}B\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}RA}{28}{section.8.8}
+\contentsline {subsection}{\numberline {8.8.1}Detailed Description}{28}{subsection.8.8.1}
+\contentsline {section}{\numberline {8.9}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}P\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}M\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Z\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}ON}{29}{section.8.9}
+\contentsline {subsection}{\numberline {8.9.1}Detailed Description}{29}{subsection.8.9.1}
+\contentsline {section}{\numberline {8.10}P\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}S\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}N\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}L\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}G\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}OS}{30}{section.8.10}
+\contentsline {subsection}{\numberline {8.10.1}Detailed Description}{30}{subsection.8.10.1}
+\contentsline {section}{\numberline {8.11}P\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}S\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}N\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}P\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}M\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Z\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}ON}{31}{section.8.11}
+\contentsline {subsection}{\numberline {8.11.1}Detailed Description}{31}{subsection.8.11.1}
+\contentsline {section}{\numberline {8.12}P\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}S\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}L\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}G\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}S\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}C\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}M\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}M\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}ON}{32}{section.8.12}
+\contentsline {subsection}{\numberline {8.12.1}Detailed Description}{32}{subsection.8.12.1}
+\contentsline {section}{\numberline {8.13}P\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}S\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}U\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}D\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}N\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}V\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}R\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}SE}{33}{section.8.13}
+\contentsline {subsection}{\numberline {8.13.1}Detailed Description}{33}{subsection.8.13.1}
+\contentsline {section}{\numberline {8.14}S\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}L\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}V\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}L\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}N\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}R\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}E\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}Q\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}U\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}A\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}T\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}I\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}O\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}NS}{34}{section.8.14}
+\contentsline {subsection}{\numberline {8.14.1}Detailed Description}{34}{subsection.8.14.1}
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+\contentsline {subsection}{\numberline {8.15.1}Detailed Description}{35}{subsection.8.15.1}
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+\contentsline {subsubsection}{\numberline {10.1.2.1}combinatorics\_get\_next\_without\_rep()}{39}{subsubsection.10.1.2.1}
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+\contentsline {subsubsection}{\numberline {10.7.2.2}dist\_based\_jacobian\_get\_J\_mul\_s()}{53}{subsubsection.10.7.2.2}
+\contentsline {subsubsection}{\numberline {10.7.2.3}dist\_based\_jacobian\_get\_JTf()}{53}{subsubsection.10.7.2.3}
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+\contentsline {subsubsection}{\numberline {10.8.2.2}dist\_based\_jacobian\_get\_J\_mul\_s()}{55}{subsubsection.10.8.2.2}
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+\contentsline {subsubsection}{\numberline {10.8.2.4}dist\_based\_jacobian\_get\_JTJ()}{57}{subsubsection.10.8.2.4}
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+\contentsline {subsubsection}{\numberline {10.16.2.1}NON\_LIN\_ALGORITHM}{66}{subsubsection.10.16.2.1}
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+\contentsline {subsubsection}{\numberline {10.17.2.5}get\_non\_lin\_sys\_J2\_()}{71}{subsubsection.10.17.2.5}
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+\contentsline {subsection}{\numberline {10.93.2}Function Documentation}{284}{subsection.10.93.2}
+\contentsline {subsubsection}{\numberline {10.93.2.1}vector\_add()}{284}{subsubsection.10.93.2.1}
+\contentsline {subsubsection}{\numberline {10.93.2.2}vector\_clear()}{285}{subsubsection.10.93.2.2}
+\contentsline {subsubsection}{\numberline {10.93.2.3}vector\_copy()}{285}{subsubsection.10.93.2.3}
+\contentsline {subsubsection}{\numberline {10.93.2.4}vector\_flex\_print()}{285}{subsubsection.10.93.2.4}
+\contentsline {subsubsection}{\numberline {10.93.2.5}vector\_get\_elements()}{286}{subsubsection.10.93.2.5}
+\contentsline {subsubsection}{\numberline {10.93.2.6}vector\_get\_euclidean\_distance()}{286}{subsubsection.10.93.2.6}
+\contentsline {subsubsection}{\numberline {10.93.2.7}vector\_get\_index\_vector()}{287}{subsubsection.10.93.2.7}
+\contentsline {subsubsection}{\numberline {10.93.2.8}vector\_get\_max\_and\_index()}{288}{subsubsection.10.93.2.8}
+\contentsline {subsubsection}{\numberline {10.93.2.9}vector\_get\_mean\_value()}{288}{subsubsection.10.93.2.9}
+\contentsline {subsubsection}{\numberline {10.93.2.10}vector\_get\_norm2()}{289}{subsubsection.10.93.2.10}
+\contentsline {subsubsection}{\numberline {10.93.2.11}vector\_get\_residual()}{289}{subsubsection.10.93.2.11}
+\contentsline {subsubsection}{\numberline {10.93.2.12}vector\_get\_scalar\_product()}{290}{subsubsection.10.93.2.12}
+\contentsline {subsubsection}{\numberline {10.93.2.13}vector\_get\_square\_norm2()}{290}{subsubsection.10.93.2.13}
+\contentsline {subsubsection}{\numberline {10.93.2.14}vector\_get\_sum()}{291}{subsubsection.10.93.2.14}
+\contentsline {subsubsection}{\numberline {10.93.2.15}vector\_in\_place\_scalar\_mul()}{291}{subsubsection.10.93.2.15}
+\contentsline {subsubsection}{\numberline {10.93.2.16}vector\_is\_equal()}{291}{subsubsection.10.93.2.16}
+\contentsline {subsubsection}{\numberline {10.93.2.17}vector\_mul()}{292}{subsubsection.10.93.2.17}
+\contentsline {subsubsection}{\numberline {10.93.2.18}vector\_print()}{292}{subsubsection.10.93.2.18}
+\contentsline {subsubsection}{\numberline {10.93.2.19}vector\_print\_u8\_array()}{293}{subsubsection.10.93.2.19}
+\contentsline {subsubsection}{\numberline {10.93.2.20}vector\_scalar\_div()}{293}{subsubsection.10.93.2.20}
+\contentsline {subsubsection}{\numberline {10.93.2.21}vector\_scalar\_mul()}{294}{subsubsection.10.93.2.21}
+\contentsline {subsubsection}{\numberline {10.93.2.22}vector\_square()}{294}{subsubsection.10.93.2.22}
+\contentsline {subsubsection}{\numberline {10.93.2.23}vector\_sub()}{294}{subsubsection.10.93.2.23}
+\contentsline {subsubsection}{\numberline {10.93.2.24}vector\_uint32\_is\_equal()}{295}{subsubsection.10.93.2.24}
+\contentsline {section}{\numberline {10.94}vector\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}test.\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}c File Reference}{295}{section.10.94}
+\contentsline {subsection}{\numberline {10.94.1}Detailed Description}{296}{subsection.10.94.1}
+\contentsline {section}{\numberline {10.95}vector\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}\_\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}test.\discretionary {\unhbox \voidb@x \hbox {\relax \fontsize {7}{8}\selectfont $\DOTSB \leftarrow \joinrel \rhook $}}{}{}h File Reference}{296}{section.10.95}
+\contentsline {subsection}{\numberline {10.95.1}Detailed Description}{296}{subsection.10.95.1}
diff --git a/doc/doxygen/latex/shell__sort_8c.tex b/doc/doxygen/latex/shell__sort_8c.tex
new file mode 100644
index 0000000..cc3b0d2
--- /dev/null
+++ b/doc/doxygen/latex/shell__sort_8c.tex
@@ -0,0 +1,80 @@
+\hypertarget{shell__sort_8c}{}\doxysection{shell\+\_\+sort.\+c File Reference}
+\label{shell__sort_8c}\index{shell\_sort.c@{shell\_sort.c}}
+
+
+Implement the Shell sort algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{shell__sort_8c_a92bc0e3a993e78dfab795f5ccc3e227e}{int\+\_\+shell\+\_\+sort}} (int $\ast$array, int length)
+\begin{DoxyCompactList}\small\item\em Sort a data set of integers by using the Shell sort algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{shell__sort_8c_a569649d96b2e8f453793ea166d3e96a6}{shell\+\_\+sort}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} $\ast$arr, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Sort a data set of type utils\+\_\+t by using the Shell sort algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Shell sort algorithm. 
+
+The Shell sort algorithm is more convenient for devices with limited storage capacity.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{shell__sort_8c_a92bc0e3a993e78dfab795f5ccc3e227e}\label{shell__sort_8c_a92bc0e3a993e78dfab795f5ccc3e227e}} 
+\index{shell\_sort.c@{shell\_sort.c}!int\_shell\_sort@{int\_shell\_sort}}
+\index{int\_shell\_sort@{int\_shell\_sort}!shell\_sort.c@{shell\_sort.c}}
+\doxysubsubsection{\texorpdfstring{int\_shell\_sort()}{int\_shell\_sort()}}
+{\footnotesize\ttfamily void int\+\_\+shell\+\_\+sort (\begin{DoxyParamCaption}\item[{int $\ast$}]{array,  }\item[{int}]{length }\end{DoxyParamCaption})}
+
+
+
+Sort a data set of integers by using the Shell sort algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em array\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the data set. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 28 of file shell\+\_\+sort.\+c.
+
+\mbox{\Hypertarget{shell__sort_8c_a569649d96b2e8f453793ea166d3e96a6}\label{shell__sort_8c_a569649d96b2e8f453793ea166d3e96a6}} 
+\index{shell\_sort.c@{shell\_sort.c}!shell\_sort@{shell\_sort}}
+\index{shell\_sort@{shell\_sort}!shell\_sort.c@{shell\_sort.c}}
+\doxysubsubsection{\texorpdfstring{shell\_sort()}{shell\_sort()}}
+{\footnotesize\ttfamily void shell\+\_\+sort (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} $\ast$}]{arr,  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Sort a data set of type utils\+\_\+t by using the Shell sort algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the data set. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 49 of file shell\+\_\+sort.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath(), and utils\+\_\+get\+\_\+median().
+
diff --git a/doc/doxygen/latex/shell__sort_8h.tex b/doc/doxygen/latex/shell__sort_8h.tex
new file mode 100644
index 0000000..86ce808
--- /dev/null
+++ b/doc/doxygen/latex/shell__sort_8h.tex
@@ -0,0 +1,79 @@
+\hypertarget{shell__sort_8h}{}\doxysection{shell\+\_\+sort.\+h File Reference}
+\label{shell__sort_8h}\index{shell\_sort.h@{shell\_sort.h}}
+
+
+Implement the Shell sort algorithm.  
+
+
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{shell__sort_8h_a92bc0e3a993e78dfab795f5ccc3e227e}{int\+\_\+shell\+\_\+sort}} (int $\ast$array, int length)
+\begin{DoxyCompactList}\small\item\em Sort a data set of integers by using the Shell sort algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{shell__sort_8h_a569649d96b2e8f453793ea166d3e96a6}{shell\+\_\+sort}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} $\ast$arr, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Sort a data set of type utils\+\_\+t by using the Shell sort algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the Shell sort algorithm. 
+
+The Shell sort algorithm is more convenient for devices with limited storage capacity.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{shell__sort_8h_a92bc0e3a993e78dfab795f5ccc3e227e}\label{shell__sort_8h_a92bc0e3a993e78dfab795f5ccc3e227e}} 
+\index{shell\_sort.h@{shell\_sort.h}!int\_shell\_sort@{int\_shell\_sort}}
+\index{int\_shell\_sort@{int\_shell\_sort}!shell\_sort.h@{shell\_sort.h}}
+\doxysubsubsection{\texorpdfstring{int\_shell\_sort()}{int\_shell\_sort()}}
+{\footnotesize\ttfamily void int\+\_\+shell\+\_\+sort (\begin{DoxyParamCaption}\item[{int $\ast$}]{array,  }\item[{int}]{length }\end{DoxyParamCaption})}
+
+
+
+Sort a data set of integers by using the Shell sort algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em array\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the data set. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 28 of file shell\+\_\+sort.\+c.
+
+\mbox{\Hypertarget{shell__sort_8h_a569649d96b2e8f453793ea166d3e96a6}\label{shell__sort_8h_a569649d96b2e8f453793ea166d3e96a6}} 
+\index{shell\_sort.h@{shell\_sort.h}!shell\_sort@{shell\_sort}}
+\index{shell\_sort@{shell\_sort}!shell\_sort.h@{shell\_sort.h}}
+\doxysubsubsection{\texorpdfstring{shell\_sort()}{shell\_sort()}}
+{\footnotesize\ttfamily void shell\+\_\+sort (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} $\ast$}]{arr,  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Sort a data set of type utils\+\_\+t by using the Shell sort algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the data set. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 49 of file shell\+\_\+sort.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath(), and utils\+\_\+get\+\_\+median().
+
diff --git a/doc/doxygen/latex/soft_architecture_01_09_2019.pdf b/doc/doxygen/latex/soft_architecture_01_09_2019.pdf
new file mode 100644
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+     y="0"
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+     id="tspan352">Solving of multivariant linear and non</tspan></text>
+
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+   id="text410"><tspan
+     x="0 45.861832 91.723663 196.8654 295.59851 391.52786 461.2218"
+     y="0"
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+     y="0"
+     sodipodi:role="line"
+     id="tspan436">equation systems (LESs &amp; N</tspan></text>
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+
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+     y="0"
+     sodipodi:role="line"
+     id="tspan580">Solve mulivariant LESs &amp; N</tspan></text>
+
+</g></g></g></g></g></g></g></g><g
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+   id="text610"><tspan
+     x="0"
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+     x="0 84.113403 181.84515 273.76907"
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+     sodipodi:role="line"
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+
+</g></g></g></g></g></g></g></g><g
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+     x="0 103.33932 181.64488 281.17908 386.32083 490.86176"
+     y="0"
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+     x="0"
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+   id="text782"><tspan
+     x="0 50.267769 155.40952 245.73129 344.46439 414.15836 492.46393"
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+     sodipodi:role="line"
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+
+</g></g></g></g></g></g></g></g><g
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+                     clip-path="url(#clipPath836)"><g
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+     y="0"
+     sodipodi:role="line"
+     id="tspan840">Determination of an approximate (start) </tspan></text>
+
+</g></g></g></g></g></g></g></g><g
+         id="g844"><g
+           id="g846"><g
+             id="g848"
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+                     clip-path="url(#clipPath864)"><g
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+   style="font-variant:normal;font-weight:normal;font-size:200.27000427px;font-family:Calibri;-inkscape-font-specification:Calibri;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
+   id="text870"><tspan
+     x="0 105.14175 210.68404 288.98959 334.85144 401.74161 447.60345 552.14441"
+     y="0"
+     sodipodi:role="line"
+     id="tspan868">position</tspan></text>
+
+</g></g></g></g></g></g></g></g><g
+         id="g872"><g
+           id="g874"><g
+             id="g876"
+             clip-path="url(#clipPath880)"><g
+               id="g882"><g
+                 id="g884"><g
+                   id="g886"><g
+                     id="g888"
+                     clip-path="url(#clipPath892)"><g
+                       id="g894"><text
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+   style="font-variant:normal;font-weight:normal;font-size:200.27000427px;font-family:Calibri;-inkscape-font-specification:Calibri;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
+   id="text898"><tspan
+     x="0 103.33932 208.88161 287.18716 333.04901 399.13812 444.99994 550.54224 655.68396 700.94501 806.4873 911.62903 977.51788 1023.3797 1183.1952 1229.057 1308.1636 1404.093 1470.9832 1516.845 1622.3872 1726.9282"
+     y="0"
+     sodipodi:role="line"
+     id="tspan896">Position optimization:</tspan></text>
+
+</g></g></g></g></g></g></g></g><g
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+                     id="g916"
+                     clip-path="url(#clipPath920)"><g
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+   style="font-variant:normal;font-weight:normal;font-size:200.27000427px;font-family:Calibri;-inkscape-font-specification:Calibri;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
+   id="text926"><tspan
+     x="0 171.03058 266.9599 333.8501 402.94324 448.80505 535.52197 580.78302 626.64484 731.78656 822.10834 920.84143 990.5354 1068.8409 1168.3751 1213.6362 1297.5493 1403.0916 1562.9071 1668.0488 1773.1906 1840.0808 1936.0101 2002.9003 2048.7622 2153.303 2258.4448"
+     y="0"
+     sodipodi:role="line"
+     id="tspan924">Matrix inverse computation </tspan></text>
+
+</g></g></g></g></g></g></g></g><g
+         id="g928"><g
+           id="g930"><g
+             id="g932"
+             clip-path="url(#clipPath936)"><g
+               id="g938"><g
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+                     id="g944"
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+   style="font-variant:normal;font-weight:normal;font-size:200.27000427px;font-family:Calibri;-inkscape-font-specification:Calibri;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
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+     x="0 171.03058 266.9599 333.8501 402.94324 448.80505 535.52197 580.78302 685.92474 785.45892 869.9729 974.91437 1134.7299 1239.8716 1345.4138 1423.7195 1468.58 1535.4701 1581.3319 1686.8741 1792.016 1870.3215"
+     y="0"
+     sodipodi:role="line"
+     id="tspan952">Matrix decompositions </tspan></text>
+
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+           id="g958"><g
+             id="g960"
+             clip-path="url(#clipPath964)"><g
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diff --git a/doc/doxygen/latex/solve_8c.tex b/doc/doxygen/latex/solve_8c.tex
new file mode 100644
index 0000000..e079cf6
--- /dev/null
+++ b/doc/doxygen/latex/solve_8c.tex
@@ -0,0 +1,206 @@
+\hypertarget{solve_8c}{}\doxysection{solve.\+c File Reference}
+\label{solve_8c}\index{solve.c@{solve.c}}
+
+
+Enables to solve systems of linear equations Ax = b for x.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}solve.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+givens.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+common.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}lu\+\_\+decomp.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}qr\+\_\+householder.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8c_a829e66492dc3073c0f7a190cda9b7db1}{solve}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]}, enum \mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}{A\+L\+G\+O\+R\+I\+T\+HM}} algo)
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b by using the Moore--Penrose, Householder, or the Givens algorithm. \end{DoxyCompactList}\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8c_ab6336aff7fbff116a6118b39a0d1e2cd}{solve\+\_\+householder}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b, using the Householder algorithm. \end{DoxyCompactList}\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8c_ac728f92ed0a0cba0e8776222acfe1d88}{solve\+\_\+givens}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b, using the Givens algorithm. \end{DoxyCompactList}\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8c_a96faf0d4f04f27a12e4ced0bffd0f634}{solve\+\_\+lu\+\_\+decomp}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b, using the Gaussian Elimination with pivoting algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Enables to solve systems of linear equations Ax = b for x. 
+
+The user can select various algorithm such as the Moore--Penrose inverse, the Givens or the Householder algorithm for the Q\+R-\/decomposition to solve the systems of linear equations.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{solve_8c_a829e66492dc3073c0f7a190cda9b7db1}\label{solve_8c_a829e66492dc3073c0f7a190cda9b7db1}} 
+\index{solve.c@{solve.c}!solve@{solve}}
+\index{solve@{solve}!solve.c@{solve.c}}
+\doxysubsubsection{\texorpdfstring{solve()}{solve()}}
+{\footnotesize\ttfamily int8\+\_\+t solve (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]},  }\item[{enum \mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}{A\+L\+G\+O\+R\+I\+T\+HM}}}]{algo }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b by using the Moore--Penrose, Householder, or the Givens algorithm. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em algo} & specifies the algorithm to use (e.\+g. the Householder method).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 35 of file solve.\+c.
+
+
+
+References Gauss, Givens, Householder, matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, Moore\+\_\+\+Penrose, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), solve\+\_\+givens(), solve\+\_\+householder(), and solve\+\_\+lu\+\_\+decomp().
+
+
+
+Referenced by solve\+\_\+big\+\_\+matrix\+\_\+test(), and solve\+\_\+test().
+
+\mbox{\Hypertarget{solve_8c_ac728f92ed0a0cba0e8776222acfe1d88}\label{solve_8c_ac728f92ed0a0cba0e8776222acfe1d88}} 
+\index{solve.c@{solve.c}!solve\_givens@{solve\_givens}}
+\index{solve\_givens@{solve\_givens}!solve.c@{solve.c}}
+\doxysubsubsection{\texorpdfstring{solve\_givens()}{solve\_givens()}}
+{\footnotesize\ttfamily int8\+\_\+t solve\+\_\+givens (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b, using the Givens algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+
+-\/1, if the linear system is not solvable. 
+\end{DoxyReturn}
+
+
+Definition at line 102 of file solve.\+c.
+
+
+
+References matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+vec(), qr\+\_\+common\+\_\+backward\+\_\+subst(), and qr\+\_\+givens\+\_\+decomp().
+
+
+
+Referenced by solve().
+
+\mbox{\Hypertarget{solve_8c_ab6336aff7fbff116a6118b39a0d1e2cd}\label{solve_8c_ab6336aff7fbff116a6118b39a0d1e2cd}} 
+\index{solve.c@{solve.c}!solve\_householder@{solve\_householder}}
+\index{solve\_householder@{solve\_householder}!solve.c@{solve.c}}
+\doxysubsubsection{\texorpdfstring{solve\_householder()}{solve\_householder()}}
+{\footnotesize\ttfamily int8\+\_\+t solve\+\_\+householder (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b, using the Householder algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 77 of file solve.\+c.
+
+
+
+References matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+vec(), qr\+\_\+common\+\_\+backward\+\_\+subst(), and qr\+\_\+householder\+\_\+decomp().
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), and solve().
+
+\mbox{\Hypertarget{solve_8c_a96faf0d4f04f27a12e4ced0bffd0f634}\label{solve_8c_a96faf0d4f04f27a12e4ced0bffd0f634}} 
+\index{solve.c@{solve.c}!solve\_lu\_decomp@{solve\_lu\_decomp}}
+\index{solve\_lu\_decomp@{solve\_lu\_decomp}!solve.c@{solve.c}}
+\doxysubsubsection{\texorpdfstring{solve\_lu\_decomp()}{solve\_lu\_decomp()}}
+{\footnotesize\ttfamily int8\+\_\+t solve\+\_\+lu\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b, using the Gaussian Elimination with pivoting algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+
+-\/2, if the linear system is not solvable. 
+\end{DoxyReturn}
+
+
+Definition at line 124 of file solve.\+c.
+
+
+
+References lu\+\_\+decomp(), matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang(), matrix\+\_\+mul(), matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, and qr\+\_\+common\+\_\+backward\+\_\+subst().
+
+
+
+Referenced by solve().
+
diff --git a/doc/doxygen/latex/solve_8h.tex b/doc/doxygen/latex/solve_8h.tex
new file mode 100644
index 0000000..ad8360f
--- /dev/null
+++ b/doc/doxygen/latex/solve_8h.tex
@@ -0,0 +1,199 @@
+\hypertarget{solve_8h}{}\doxysection{solve.\+h File Reference}
+\label{solve_8h}\index{solve.h@{solve.h}}
+
+
+Enables to solve systems of linear equations Ax = b for x.  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8h_a829e66492dc3073c0f7a190cda9b7db1}{solve}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]}, enum \mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}{A\+L\+G\+O\+R\+I\+T\+HM}} algo)
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b by using the Moore--Penrose, Householder, or the Givens algorithm. \end{DoxyCompactList}\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8h_ab6336aff7fbff116a6118b39a0d1e2cd}{solve\+\_\+householder}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b, using the Householder algorithm. \end{DoxyCompactList}\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8h_ac728f92ed0a0cba0e8776222acfe1d88}{solve\+\_\+givens}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b, using the Givens algorithm. \end{DoxyCompactList}\item 
+int8\+\_\+t \mbox{\hyperlink{solve_8h_a96faf0d4f04f27a12e4ced0bffd0f634}{solve\+\_\+lu\+\_\+decomp}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\mbox{[}m\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} x\+\_\+sol\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve an (m $\times$ n) linear system Ax = b, using the Gaussian Elimination with pivoting algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Enables to solve systems of linear equations Ax = b for x. 
+
+The user can select various algorithm such as the Moore--Penrose inverse, the Givens or the Householder algorithm for the Q\+R-\/decomposition. The user can also choose the Gaussian Elimination with pivoting algorithm to solve the systems of linear equations.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{solve_8h_a829e66492dc3073c0f7a190cda9b7db1}\label{solve_8h_a829e66492dc3073c0f7a190cda9b7db1}} 
+\index{solve.h@{solve.h}!solve@{solve}}
+\index{solve@{solve}!solve.h@{solve.h}}
+\doxysubsubsection{\texorpdfstring{solve()}{solve()}}
+{\footnotesize\ttfamily int8\+\_\+t solve (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]},  }\item[{enum \mbox{\hyperlink{pseudo__inverse_8h_aeead1612e2f846fe32e4c50e1ab3d7c3}{A\+L\+G\+O\+R\+I\+T\+HM}}}]{algo }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b by using the Moore--Penrose, Householder, or the Givens algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em algo} & specifies the algorithm to use (e.\+g. the Householder method).\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 35 of file solve.\+c.
+
+
+
+References Gauss, Givens, Householder, matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, Moore\+\_\+\+Penrose, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), solve\+\_\+givens(), solve\+\_\+householder(), and solve\+\_\+lu\+\_\+decomp().
+
+
+
+Referenced by solve\+\_\+big\+\_\+matrix\+\_\+test(), and solve\+\_\+test().
+
+\mbox{\Hypertarget{solve_8h_ac728f92ed0a0cba0e8776222acfe1d88}\label{solve_8h_ac728f92ed0a0cba0e8776222acfe1d88}} 
+\index{solve.h@{solve.h}!solve\_givens@{solve\_givens}}
+\index{solve\_givens@{solve\_givens}!solve.h@{solve.h}}
+\doxysubsubsection{\texorpdfstring{solve\_givens()}{solve\_givens()}}
+{\footnotesize\ttfamily int8\+\_\+t solve\+\_\+givens (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b, using the Givens algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+
+-\/1, if the linear system is not solvable. 
+\end{DoxyReturn}
+
+
+Definition at line 102 of file solve.\+c.
+
+
+
+References matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+vec(), qr\+\_\+common\+\_\+backward\+\_\+subst(), and qr\+\_\+givens\+\_\+decomp().
+
+
+
+Referenced by solve().
+
+\mbox{\Hypertarget{solve_8h_ab6336aff7fbff116a6118b39a0d1e2cd}\label{solve_8h_ab6336aff7fbff116a6118b39a0d1e2cd}} 
+\index{solve.h@{solve.h}!solve\_householder@{solve\_householder}}
+\index{solve\_householder@{solve\_householder}!solve.h@{solve.h}}
+\doxysubsubsection{\texorpdfstring{solve\_householder()}{solve\_householder()}}
+{\footnotesize\ttfamily int8\+\_\+t solve\+\_\+householder (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b, using the Householder algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+\end{DoxyReturn}
+
+
+Definition at line 77 of file solve.\+c.
+
+
+
+References matrix\+\_\+t, matrix\+\_\+trans\+\_\+mul\+\_\+vec(), qr\+\_\+common\+\_\+backward\+\_\+subst(), and qr\+\_\+householder\+\_\+decomp().
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), and solve().
+
+\mbox{\Hypertarget{solve_8h_a96faf0d4f04f27a12e4ced0bffd0f634}\label{solve_8h_a96faf0d4f04f27a12e4ced0bffd0f634}} 
+\index{solve.h@{solve.h}!solve\_lu\_decomp@{solve\_lu\_decomp}}
+\index{solve\_lu\_decomp@{solve\_lu\_decomp}!solve.h@{solve.h}}
+\doxysubsubsection{\texorpdfstring{solve\_lu\_decomp()}{solve\_lu\_decomp()}}
+{\footnotesize\ttfamily int8\+\_\+t solve\+\_\+lu\+\_\+decomp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}$\,$\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\mbox{[}m\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{x\+\_\+sol\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve an (m $\times$ n) linear system Ax = b, using the Gaussian Elimination with pivoting algorithm. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\mbox{[}$\,$\mbox{]}} & pointer to the vector b. \\
+\hline
+\mbox{\texttt{ out}}  & {\em x\+\_\+sol\mbox{[}$\,$\mbox{]}} & pointer to the solution vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+1, if solving the linear equation system is successful. 
+
+-\/1, if solving the linear equation system is not successful. 
+
+-\/2, if the linear system is not solvable. 
+\end{DoxyReturn}
+
+
+Definition at line 124 of file solve.\+c.
+
+
+
+References lu\+\_\+decomp(), matrix\+\_\+get\+\_\+inv\+\_\+low\+\_\+triang(), matrix\+\_\+mul(), matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, and qr\+\_\+common\+\_\+backward\+\_\+subst().
+
+
+
+Referenced by solve().
+
diff --git a/doc/doxygen/latex/solve__test_8c.tex b/doc/doxygen/latex/solve__test_8c.tex
new file mode 100644
index 0000000..c2ec5a2
--- /dev/null
+++ b/doc/doxygen/latex/solve__test_8c.tex
@@ -0,0 +1,30 @@
+\hypertarget{solve__test_8c}{}\doxysection{solve\+\_\+test.\+c File Reference}
+\label{solve__test_8c}\index{solve\_test.c@{solve\_test.c}}
+
+
+Examples of solving linear equation systems.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}solve.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{solve__test_8c_a468b4492daa139d24a18624526001220}\label{solve__test_8c_a468b4492daa139d24a18624526001220}} 
+void \mbox{\hyperlink{solve__test_8c_a468b4492daa139d24a18624526001220}{solve\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of solving linear equation systems. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{solve__test_8c_acb6c59801ca040ac66f436b8f332a371}\label{solve__test_8c_acb6c59801ca040ac66f436b8f332a371}} 
+void \mbox{\hyperlink{solve__test_8c_acb6c59801ca040ac66f436b8f332a371}{solve\+\_\+big\+\_\+matrix\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of solving an (10,5) linear equation system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of solving linear equation systems. 
+
+Solving linear equation systems examples (see \mbox{\hyperlink{solve_8h}{solve}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/solve__test_8h.tex b/doc/doxygen/latex/solve__test_8h.tex
new file mode 100644
index 0000000..02fa6ef
--- /dev/null
+++ b/doc/doxygen/latex/solve__test_8h.tex
@@ -0,0 +1,26 @@
+\hypertarget{solve__test_8h}{}\doxysection{solve\+\_\+test.\+h File Reference}
+\label{solve__test_8h}\index{solve\_test.h@{solve\_test.h}}
+
+
+Examples of solving linear equation systems.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{solve__test_8h_a468b4492daa139d24a18624526001220}\label{solve__test_8h_a468b4492daa139d24a18624526001220}} 
+void \mbox{\hyperlink{solve__test_8h_a468b4492daa139d24a18624526001220}{solve\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of solving linear equation systems. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{solve__test_8h_acb6c59801ca040ac66f436b8f332a371}\label{solve__test_8h_acb6c59801ca040ac66f436b8f332a371}} 
+void \mbox{\hyperlink{solve__test_8h_acb6c59801ca040ac66f436b8f332a371}{solve\+\_\+big\+\_\+matrix\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Example of solving an (10,5) linear equation system. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of solving linear equation systems. 
+
+Solving linear equation systems examples (see \mbox{\hyperlink{solve_8h}{solve}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/structmatrix__dim__t.tex b/doc/doxygen/latex/structmatrix__dim__t.tex
new file mode 100644
index 0000000..e2b666e
--- /dev/null
+++ b/doc/doxygen/latex/structmatrix__dim__t.tex
@@ -0,0 +1,32 @@
+\hypertarget{structmatrix__dim__t}{}\doxysection{matrix\+\_\+dim\+\_\+t Struct Reference}
+\label{structmatrix__dim__t}\index{matrix\_dim\_t@{matrix\_dim\_t}}
+
+
+A structure to define the row and column number of a matrix.  
+
+
+
+
+{\ttfamily \#include $<$matrix.\+h$>$}
+
+\doxysubsection*{Data Fields}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{structmatrix__dim__t_a853244a0562d43bfdcdcb704ed707721}\label{structmatrix__dim__t_a853244a0562d43bfdcdcb704ed707721}} 
+uint8\+\_\+t \mbox{\hyperlink{structmatrix__dim__t_a853244a0562d43bfdcdcb704ed707721}{row\+\_\+num}}
+\begin{DoxyCompactList}\small\item\em the row number \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{structmatrix__dim__t_aac6b6ff205184047714d5c22019bdbab}\label{structmatrix__dim__t_aac6b6ff205184047714d5c22019bdbab}} 
+uint8\+\_\+t \mbox{\hyperlink{structmatrix__dim__t_aac6b6ff205184047714d5c22019bdbab}{col\+\_\+num}}
+\begin{DoxyCompactList}\small\item\em the column number \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+A structure to define the row and column number of a matrix. 
+
+Definition at line 60 of file matrix.\+h.
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{matrix_8h}{matrix.\+h}}\end{DoxyCompactItemize}
diff --git a/doc/doxygen/latex/svd_8c.tex b/doc/doxygen/latex/svd_8c.tex
new file mode 100644
index 0000000..2547c90
--- /dev/null
+++ b/doc/doxygen/latex/svd_8c.tex
@@ -0,0 +1,266 @@
+\hypertarget{svd_8c}{}\doxysection{svd.\+c File Reference}
+\label{svd_8c}\index{svd.c@{svd.c}}
+
+
+Algorithm for the Singular Value Decomposition (S\+VD). Provide necessary methods to compute the compact S\+VD of a matrix. A = U$\ast$\+S$\ast$V, where U is a (m x l) orthogonal matrix, S is a (l x l) diagonal matrix, V is a (l x n) orthogonal matrix, and l = min(m,n). The S\+VD is computed by using the Golub--Kahan--Reinsch algorithm that works in two phases\+: bidiagonalization and a reduction to the diagonal form phase.  
+
+
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}svd.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{svd_8c_a8194826f85cc3105c4d8d4f342ca8df8}{svd\+\_\+get\+\_\+\+U\+\_\+dim}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$u\+\_\+dim)
+\begin{DoxyCompactList}\small\item\em Calculate the dimension of the matrix U. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8c_aeb7ac3eac076a0f52c729849599808a6}{svd\+\_\+get\+\_\+\+S\+\_\+dim}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$s\+\_\+dim)
+\begin{DoxyCompactList}\small\item\em Calculate the dimension of the matrix S. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8c_aa65fbd187ce13d0da98cecb40cfa3b07}{svd\+\_\+get\+\_\+\+V\+\_\+dim}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$v\+\_\+dim)
+\begin{DoxyCompactList}\small\item\em Calculate the dimension of the matrix V. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{svd_8c_a91b85e542b1fc44d3500ba52aecb8e0e}{svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num}} (uint8\+\_\+t m, uint8\+\_\+t n)
+\begin{DoxyCompactList}\small\item\em Calculate the number of the singular values. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8c_acdccfce5b7732e6334ca5a521c57e63e}{svd}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t u\+\_\+m, uint8\+\_\+t u\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} U\mbox{[}u\+\_\+m\mbox{]}\mbox{[}u\+\_\+n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} S\mbox{[}u\+\_\+n\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} V\mbox{[}n\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t sing\+\_\+vec\+\_\+length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} singl\+\_\+values\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Singular-\/\+Value Decomposition (S\+VD) of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8c_ae92d53fe415ccfd63a21bb36936294cb}{svd\+\_\+get\+\_\+reciproc\+\_\+singular\+\_\+values}} (uint8\+\_\+t m, uint8\+\_\+t n, uint8\+\_\+t length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} recip\+\_\+singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the reciprocal singular values. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8c_a55b4a07eb7dbd09f7fa1d15debd44595}{svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+arr\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i)
+\begin{DoxyCompactList}\small\item\em Compute and print the S\+VD of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Algorithm for the Singular Value Decomposition (S\+VD). Provide necessary methods to compute the compact S\+VD of a matrix. A = U$\ast$\+S$\ast$V, where U is a (m x l) orthogonal matrix, S is a (l x l) diagonal matrix, V is a (l x n) orthogonal matrix, and l = min(m,n). The S\+VD is computed by using the Golub--Kahan--Reinsch algorithm that works in two phases\+: bidiagonalization and a reduction to the diagonal form phase. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{svd_8c_acdccfce5b7732e6334ca5a521c57e63e}\label{svd_8c_acdccfce5b7732e6334ca5a521c57e63e}} 
+\index{svd.c@{svd.c}!svd@{svd}}
+\index{svd@{svd}!svd.c@{svd.c}}
+\doxysubsubsection{\texorpdfstring{svd()}{svd()}}
+{\footnotesize\ttfamily void svd (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{u\+\_\+m,  }\item[{uint8\+\_\+t}]{u\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{U\mbox{[}u\+\_\+m\mbox{]}\mbox{[}u\+\_\+n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{S\mbox{[}u\+\_\+n\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{V\mbox{[}n\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{sing\+\_\+vec\+\_\+length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{singl\+\_\+values\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Singular-\/\+Value Decomposition (S\+VD) of a matrix. 
+
+Matrix A is transformed to A = U$\ast$\+S$\ast$V, where U and V are unitary matrices, and S is a diagonal matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em u\+\_\+m} & row number of the matrix U. \\
+\hline
+\mbox{\texttt{ in}}  & {\em u\+\_\+n} & column number of the matrix U. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix U. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em S\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix S. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em V\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix V. \\
+\hline
+\mbox{\texttt{ in}}  & {\em sing\+\_\+vec\+\_\+length} & length of the singular vector. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em singl\+\_\+values\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector saving the singular values. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 119 of file svd.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{svd_8c_a55b4a07eb7dbd09f7fa1d15debd44595}\label{svd_8c_a55b4a07eb7dbd09f7fa1d15debd44595}} 
+\index{svd.c@{svd.c}!svd\_compute\_print\_U\_S\_V\_s@{svd\_compute\_print\_U\_S\_V\_s}}
+\index{svd\_compute\_print\_U\_S\_V\_s@{svd\_compute\_print\_U\_S\_V\_s}!svd.c@{svd.c}}
+\doxysubsubsection{\texorpdfstring{svd\_compute\_print\_U\_S\_V\_s()}{svd\_compute\_print\_U\_S\_V\_s()}}
+{\footnotesize\ttfamily void svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\+\_\+arr\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i }\end{DoxyParamCaption})}
+
+
+
+Compute and print the S\+VD of a matrix. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\+\_\+arr\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & label. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 766 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+print(), matrix\+\_\+t, matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd(), svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), and svd\+\_\+get\+\_\+\+U\+\_\+dim().
+
+
+
+Referenced by svd\+\_\+test().
+
+\mbox{\Hypertarget{svd_8c_ae92d53fe415ccfd63a21bb36936294cb}\label{svd_8c_ae92d53fe415ccfd63a21bb36936294cb}} 
+\index{svd.c@{svd.c}!svd\_get\_reciproc\_singular\_values@{svd\_get\_reciproc\_singular\_values}}
+\index{svd\_get\_reciproc\_singular\_values@{svd\_get\_reciproc\_singular\_values}!svd.c@{svd.c}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_reciproc\_singular\_values()}{svd\_get\_reciproc\_singular\_values()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+reciproc\+\_\+singular\+\_\+values (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{recip\+\_\+singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the reciprocal singular values. 
+
+This method is based on the singular values.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & length of the array of single values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em singl\+\_\+values\+\_\+arr} & pointer to the array of single values. \\
+\hline
+\mbox{\texttt{ out}}  & {\em recip\+\_\+singl\+\_\+values\+\_\+arr} & pointer to the array of the reciprocal singular values. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 747 of file svd.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{svd_8c_aeb7ac3eac076a0f52c729849599808a6}\label{svd_8c_aeb7ac3eac076a0f52c729849599808a6}} 
+\index{svd.c@{svd.c}!svd\_get\_S\_dim@{svd\_get\_S\_dim}}
+\index{svd\_get\_S\_dim@{svd\_get\_S\_dim}!svd.c@{svd.c}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_S\_dim()}{svd\_get\_S\_dim()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+\+S\+\_\+dim (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$}]{s\+\_\+dim }\end{DoxyParamCaption})}
+
+
+
+Calculate the dimension of the matrix S. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em s\+\_\+dim} & pointer to the dimension struct. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 102 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::row\+\_\+num.
+
+\mbox{\Hypertarget{svd_8c_a91b85e542b1fc44d3500ba52aecb8e0e}\label{svd_8c_a91b85e542b1fc44d3500ba52aecb8e0e}} 
+\index{svd.c@{svd.c}!svd\_get\_single\_values\_num@{svd\_get\_single\_values\_num}}
+\index{svd\_get\_single\_values\_num@{svd\_get\_single\_values\_num}!svd.c@{svd.c}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_single\_values\_num()}{svd\_get\_single\_values\_num()}}
+{\footnotesize\ttfamily uint8\+\_\+t svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n }\end{DoxyParamCaption})}
+
+
+
+Calculate the number of the singular values. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the number of the singular values. 
+\end{DoxyReturn}
+
+
+Definition at line 114 of file svd.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{svd_8c_a8194826f85cc3105c4d8d4f342ca8df8}\label{svd_8c_a8194826f85cc3105c4d8d4f342ca8df8}} 
+\index{svd.c@{svd.c}!svd\_get\_U\_dim@{svd\_get\_U\_dim}}
+\index{svd\_get\_U\_dim@{svd\_get\_U\_dim}!svd.c@{svd.c}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_U\_dim()}{svd\_get\_U\_dim()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+\+U\+\_\+dim (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$}]{u\+\_\+dim }\end{DoxyParamCaption})}
+
+
+
+Calculate the dimension of the matrix U. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em u\+\_\+dim} & pointer to the dimension struct. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 96 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, and matrix\+\_\+dim\+\_\+t\+::row\+\_\+num.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{svd_8c_aa65fbd187ce13d0da98cecb40cfa3b07}\label{svd_8c_aa65fbd187ce13d0da98cecb40cfa3b07}} 
+\index{svd.c@{svd.c}!svd\_get\_V\_dim@{svd\_get\_V\_dim}}
+\index{svd\_get\_V\_dim@{svd\_get\_V\_dim}!svd.c@{svd.c}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_V\_dim()}{svd\_get\_V\_dim()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+\+V\+\_\+dim (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$}]{v\+\_\+dim }\end{DoxyParamCaption})}
+
+
+
+Calculate the dimension of the matrix V. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em v\+\_\+dim} & pointer to the dimension struct. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 108 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, and matrix\+\_\+dim\+\_\+t\+::row\+\_\+num.
+
diff --git a/doc/doxygen/latex/svd_8h.tex b/doc/doxygen/latex/svd_8h.tex
new file mode 100644
index 0000000..47ea23a
--- /dev/null
+++ b/doc/doxygen/latex/svd_8h.tex
@@ -0,0 +1,276 @@
+\hypertarget{svd_8h}{}\doxysection{svd.\+h File Reference}
+\label{svd_8h}\index{svd.h@{svd.h}}
+
+
+Algorithm for the Singular Value Decomposition (S\+VD).  
+
+
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{svd_8h_aa2f21266e1086a3971dfd02ee4b48ce5}\label{svd_8h_aa2f21266e1086a3971dfd02ee4b48ce5}} 
+\#define \mbox{\hyperlink{svd_8h_aa2f21266e1086a3971dfd02ee4b48ce5}{S\+V\+D\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+N\+E\+G\+L\+I\+G\+I\+B\+L\+E\+\_\+\+V\+A\+L\+U\+ES}}~1
+\begin{DoxyCompactList}\small\item\em The case of computing negligible values. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{svd_8h_a70d46444b7291fdb50510447bb1ab9a4}\label{svd_8h_a70d46444b7291fdb50510447bb1ab9a4}} 
+\#define \mbox{\hyperlink{svd_8h_a70d46444b7291fdb50510447bb1ab9a4}{S\+V\+D\+\_\+\+S\+P\+L\+I\+T\+\_\+\+A\+T\+\_\+\+N\+E\+G\+L\+I\+G\+I\+B\+L\+E\+\_\+\+V\+A\+L\+U\+ES}}~2
+\begin{DoxyCompactList}\small\item\em The case of splitting at negligible values. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{svd_8h_af9e7db6685a0631312bfb93cc58dd756}\label{svd_8h_af9e7db6685a0631312bfb93cc58dd756}} 
+\#define \mbox{\hyperlink{svd_8h_af9e7db6685a0631312bfb93cc58dd756}{S\+V\+D\+\_\+\+Q\+R\+\_\+\+S\+T\+EP}}~3
+\begin{DoxyCompactList}\small\item\em The case of the Q\+R-\/step. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{svd_8h_acdb2d1d5cfdead81a1c247037b06823a}\label{svd_8h_acdb2d1d5cfdead81a1c247037b06823a}} 
+\#define \mbox{\hyperlink{svd_8h_acdb2d1d5cfdead81a1c247037b06823a}{S\+V\+D\+\_\+\+O\+R\+D\+E\+R\+\_\+\+A\+B\+S\+O\+L\+U\+T\+E\+\_\+\+S\+I\+N\+G\+\_\+\+V\+A\+L\+U\+ES}}~4
+\begin{DoxyCompactList}\small\item\em The case of the order of absolute singular values. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{svd_8h_acdccfce5b7732e6334ca5a521c57e63e}{svd}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t u\+\_\+m, uint8\+\_\+t u\+\_\+n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} U\mbox{[}u\+\_\+m\mbox{]}\mbox{[}u\+\_\+n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} S\mbox{[}u\+\_\+n\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} V\mbox{[}n\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t sing\+\_\+vec\+\_\+length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} singl\+\_\+values\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Singular-\/\+Value Decomposition (S\+VD) of a matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8h_a8194826f85cc3105c4d8d4f342ca8df8}{svd\+\_\+get\+\_\+\+U\+\_\+dim}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$u\+\_\+dim)
+\begin{DoxyCompactList}\small\item\em Calculate the dimension of the matrix U. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8h_aeb7ac3eac076a0f52c729849599808a6}{svd\+\_\+get\+\_\+\+S\+\_\+dim}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$s\+\_\+dim)
+\begin{DoxyCompactList}\small\item\em Calculate the dimension of the matrix S. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8h_aa65fbd187ce13d0da98cecb40cfa3b07}{svd\+\_\+get\+\_\+\+V\+\_\+dim}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$v\+\_\+dim)
+\begin{DoxyCompactList}\small\item\em Calculate the dimension of the matrix V. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{svd_8h_a91b85e542b1fc44d3500ba52aecb8e0e}{svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num}} (uint8\+\_\+t m, uint8\+\_\+t n)
+\begin{DoxyCompactList}\small\item\em Calculate the number of the singular values. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8h_ae92d53fe415ccfd63a21bb36936294cb}{svd\+\_\+get\+\_\+reciproc\+\_\+singular\+\_\+values}} (uint8\+\_\+t m, uint8\+\_\+t n, uint8\+\_\+t length, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} recip\+\_\+singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the reciprocal singular values. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{svd_8h_a55b4a07eb7dbd09f7fa1d15debd44595}{svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} matrix\+\_\+arr\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, uint8\+\_\+t i)
+\begin{DoxyCompactList}\small\item\em Compute and print the S\+VD of a matrix. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Algorithm for the Singular Value Decomposition (S\+VD). 
+
+Provide necessary methods to compute the compact S\+VD of a matrix. A = U$\ast$\+S$\ast$V, where U is a (m x l) orthogonal matrix, S is a (l x l) diagonal matrix, V is a (l x n) orthogonal matrix, and l = min(m,n). The S\+VD is computed by using the Golub--Kahan--Reinsch algorithm that works in two phases\+: bidiagonalization and a reduction to the diagonal form phase.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{svd_8h_acdccfce5b7732e6334ca5a521c57e63e}\label{svd_8h_acdccfce5b7732e6334ca5a521c57e63e}} 
+\index{svd.h@{svd.h}!svd@{svd}}
+\index{svd@{svd}!svd.h@{svd.h}}
+\doxysubsubsection{\texorpdfstring{svd()}{svd()}}
+{\footnotesize\ttfamily void svd (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{u\+\_\+m,  }\item[{uint8\+\_\+t}]{u\+\_\+n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{U\mbox{[}u\+\_\+m\mbox{]}\mbox{[}u\+\_\+n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{S\mbox{[}u\+\_\+n\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{V\mbox{[}n\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{sing\+\_\+vec\+\_\+length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{singl\+\_\+values\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Singular-\/\+Value Decomposition (S\+VD) of a matrix. 
+
+Matrix A is transformed to A = U$\ast$\+S$\ast$V, where U and V are unitary matrices, and S is a diagonal matrix.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix A. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix A. \\
+\hline
+\mbox{\texttt{ in}}  & {\em u\+\_\+m} & row number of the matrix U. \\
+\hline
+\mbox{\texttt{ in}}  & {\em u\+\_\+n} & column number of the matrix U. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em U\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix U. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em S\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix S. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em V\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix V. \\
+\hline
+\mbox{\texttt{ in}}  & {\em sing\+\_\+vec\+\_\+length} & length of the singular vector. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em singl\+\_\+values\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector saving the singular values. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 119 of file svd.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{svd_8h_a55b4a07eb7dbd09f7fa1d15debd44595}\label{svd_8h_a55b4a07eb7dbd09f7fa1d15debd44595}} 
+\index{svd.h@{svd.h}!svd\_compute\_print\_U\_S\_V\_s@{svd\_compute\_print\_U\_S\_V\_s}}
+\index{svd\_compute\_print\_U\_S\_V\_s@{svd\_compute\_print\_U\_S\_V\_s}!svd.h@{svd.h}}
+\doxysubsubsection{\texorpdfstring{svd\_compute\_print\_U\_S\_V\_s()}{svd\_compute\_print\_U\_S\_V\_s()}}
+{\footnotesize\ttfamily void svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{matrix\+\_\+arr\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{i }\end{DoxyParamCaption})}
+
+
+
+Compute and print the S\+VD of a matrix. 
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em matrix\+\_\+arr\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em i} & label. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 766 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+print(), matrix\+\_\+t, matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd(), svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), and svd\+\_\+get\+\_\+\+U\+\_\+dim().
+
+
+
+Referenced by svd\+\_\+test().
+
+\mbox{\Hypertarget{svd_8h_ae92d53fe415ccfd63a21bb36936294cb}\label{svd_8h_ae92d53fe415ccfd63a21bb36936294cb}} 
+\index{svd.h@{svd.h}!svd\_get\_reciproc\_singular\_values@{svd\_get\_reciproc\_singular\_values}}
+\index{svd\_get\_reciproc\_singular\_values@{svd\_get\_reciproc\_singular\_values}!svd.h@{svd.h}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_reciproc\_singular\_values()}{svd\_get\_reciproc\_singular\_values()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+reciproc\+\_\+singular\+\_\+values (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{recip\+\_\+singl\+\_\+values\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the reciprocal singular values. 
+
+This method is based on the singular values.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to transform in S\+VD. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & length of the array of single values. \\
+\hline
+\mbox{\texttt{ in}}  & {\em singl\+\_\+values\+\_\+arr} & pointer to the array of single values. \\
+\hline
+\mbox{\texttt{ out}}  & {\em recip\+\_\+singl\+\_\+values\+\_\+arr} & pointer to the array of the reciprocal singular values. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 747 of file svd.\+c.
+
+
+
+References matrix\+\_\+t.
+
+\mbox{\Hypertarget{svd_8h_aeb7ac3eac076a0f52c729849599808a6}\label{svd_8h_aeb7ac3eac076a0f52c729849599808a6}} 
+\index{svd.h@{svd.h}!svd\_get\_S\_dim@{svd\_get\_S\_dim}}
+\index{svd\_get\_S\_dim@{svd\_get\_S\_dim}!svd.h@{svd.h}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_S\_dim()}{svd\_get\_S\_dim()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+\+S\+\_\+dim (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$}]{s\+\_\+dim }\end{DoxyParamCaption})}
+
+
+
+Calculate the dimension of the matrix S. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em s\+\_\+dim} & pointer to the dimension struct. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 102 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::row\+\_\+num.
+
+\mbox{\Hypertarget{svd_8h_a91b85e542b1fc44d3500ba52aecb8e0e}\label{svd_8h_a91b85e542b1fc44d3500ba52aecb8e0e}} 
+\index{svd.h@{svd.h}!svd\_get\_single\_values\_num@{svd\_get\_single\_values\_num}}
+\index{svd\_get\_single\_values\_num@{svd\_get\_single\_values\_num}!svd.h@{svd.h}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_single\_values\_num()}{svd\_get\_single\_values\_num()}}
+{\footnotesize\ttfamily uint8\+\_\+t svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n }\end{DoxyParamCaption})}
+
+
+
+Calculate the number of the singular values. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the number of the singular values. 
+\end{DoxyReturn}
+
+
+Definition at line 114 of file svd.\+c.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{svd_8h_a8194826f85cc3105c4d8d4f342ca8df8}\label{svd_8h_a8194826f85cc3105c4d8d4f342ca8df8}} 
+\index{svd.h@{svd.h}!svd\_get\_U\_dim@{svd\_get\_U\_dim}}
+\index{svd\_get\_U\_dim@{svd\_get\_U\_dim}!svd.h@{svd.h}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_U\_dim()}{svd\_get\_U\_dim()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+\+U\+\_\+dim (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$}]{u\+\_\+dim }\end{DoxyParamCaption})}
+
+
+
+Calculate the dimension of the matrix U. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em u\+\_\+dim} & pointer to the dimension struct. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 96 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, and matrix\+\_\+dim\+\_\+t\+::row\+\_\+num.
+
+
+
+Referenced by matrix\+\_\+get\+\_\+two\+\_\+norm(), moore\+\_\+penrose\+\_\+get\+\_\+pinv(), svd\+\_\+compute\+\_\+print\+\_\+\+U\+\_\+\+S\+\_\+\+V\+\_\+s(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{svd_8h_aa65fbd187ce13d0da98cecb40cfa3b07}\label{svd_8h_aa65fbd187ce13d0da98cecb40cfa3b07}} 
+\index{svd.h@{svd.h}!svd\_get\_V\_dim@{svd\_get\_V\_dim}}
+\index{svd\_get\_V\_dim@{svd\_get\_V\_dim}!svd.h@{svd.h}}
+\doxysubsubsection{\texorpdfstring{svd\_get\_V\_dim()}{svd\_get\_V\_dim()}}
+{\footnotesize\ttfamily void svd\+\_\+get\+\_\+\+V\+\_\+dim (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{structmatrix__dim__t}{matrix\+\_\+dim\+\_\+t}} $\ast$}]{v\+\_\+dim }\end{DoxyParamCaption})}
+
+
+
+Calculate the dimension of the matrix V. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & row number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the matrix to decompose. \\
+\hline
+\mbox{\texttt{ out}}  & {\em v\+\_\+dim} & pointer to the dimension struct. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 108 of file svd.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, and matrix\+\_\+dim\+\_\+t\+::row\+\_\+num.
+
diff --git a/doc/doxygen/latex/svd__test_8c.tex b/doc/doxygen/latex/svd__test_8c.tex
new file mode 100644
index 0000000..0c9157d
--- /dev/null
+++ b/doc/doxygen/latex/svd__test_8c.tex
@@ -0,0 +1,28 @@
+\hypertarget{svd__test_8c}{}\doxysection{svd\+\_\+test.\+c File Reference}
+\label{svd__test_8c}\index{svd\_test.c@{svd\_test.c}}
+
+
+Examples of the S\+VD algorithm.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}svd.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{svd__test_8c_a5b3fa4be9f289d4078fdd009719a4077}\label{svd__test_8c_a5b3fa4be9f289d4078fdd009719a4077}} 
+void \mbox{\hyperlink{svd__test_8c_a5b3fa4be9f289d4078fdd009719a4077}{svd\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Givens algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the S\+VD algorithm. 
+
+S\+VD algorithm examples (see the \mbox{\hyperlink{svd_8h}{Singular Value Decomposition (S\+VD)}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/svd__test_8h.tex b/doc/doxygen/latex/svd__test_8h.tex
new file mode 100644
index 0000000..bb32510
--- /dev/null
+++ b/doc/doxygen/latex/svd__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{svd__test_8h}{}\doxysection{svd\+\_\+test.\+h File Reference}
+\label{svd__test_8h}\index{svd\_test.h@{svd\_test.h}}
+
+
+Examples of the S\+VD algorithm.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{svd__test_8h_a5b3fa4be9f289d4078fdd009719a4077}\label{svd__test_8h_a5b3fa4be9f289d4078fdd009719a4077}} 
+void \mbox{\hyperlink{svd__test_8h_a5b3fa4be9f289d4078fdd009719a4077}{svd\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the Givens algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the S\+VD algorithm. 
+
+S\+VD algorithm examples (see the \mbox{\hyperlink{svd_8h}{Singular Value Decomposition (S\+VD)}} approach).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/tabu_doxygen.sty b/doc/doxygen/latex/tabu_doxygen.sty
new file mode 100644
index 0000000..e1d3f16
--- /dev/null
+++ b/doc/doxygen/latex/tabu_doxygen.sty
@@ -0,0 +1,2557 @@
+%%
+%% This is file `tabu.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% tabu.dtx  (with options: `package')
+%% 
+%% This is a generated file.
+%% Copyright (FC) 2010-2011 - lppl
+%% 
+%% tabu : 2011/02/26 v2.8 - tabu : Flexible LaTeX tabulars
+%% 
+%% **********************************************************************************************
+%% \begin{tabu}               { preamble } => default target: \linewidth or \linegoal
+%% \begin{tabu} to     <dimen>{ preamble } => target specified
+%% \begin{tabu} spread <dimen>{ preamble } => target relative to the ``natural width''
+%% 
+%%  tabu works in text and in math modes.
+%% 
+%%  X columns: automatic width ajustment + horizontal and vertical alignment
+%%  \begin{tabu}   { X[4c] X[1c] X[-2ml]  }
+%% 
+%%  Horizontal lines and / or leaders:
+%%         \hline\hline                          => double horizontal line
+%%         \firsthline\hline                     => for nested tabulars
+%%         \lasthline\hline                      => for nested tabulars
+%%         \tabucline[line spec]{column-column}  => ``funny'' lines (dash/leader)
+%%  Automatic lines / leaders :
+%%         \everyrow{\hline\hline}
+%% 
+%%  Vertical lines and / or leaders:
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt blue] }
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt on 2pt off 4pt blue] }
+%% 
+%%  Fixed vertical spacing adjustment:
+%%         \extrarowheight=<dimen>     \extrarowdepth=<dimen>
+%%    or:     \extrarowsep=<dimen>               => may be prefixed by \global
+%% 
+%%  Dynamic vertical spacing adjustment:
+%%       \abovetabulinesep=<dimen>  \belowtabulinesep=<dimen>
+%%   or:      \tabulinesep=<dimen>               => may be prefixed by \global
+%% 
+%%  delarray.sty shortcuts: in math and text modes
+%%  \begin{tabu} ....        \({ preamble }\)
+%% 
+%%  Algorithms reports:
+%%            \tracingtabu=1             \tracingtabu=2
+%% 
+%% **********************************************************************************************
+%% 
+%% This work may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either
+%% version 1.3 of this license or (at your option) any later
+%% version. The latest version of this license is in
+%%    http://www.latex-project.org/lppl.txt
+%% 
+%% This work consists of the main source file tabu.dtx
+%% and the derived files
+%%    tabu.sty, tabu.pdf, tabu.ins
+%% 
+%% tabu : Flexible LaTeX tabulars
+%% lppl copyright 2010-2011 by FC <florent.chervet@free.fr>
+%% 
+
+\NeedsTeXFormat{LaTeX2e}[2005/12/01]
+\ProvidesPackage{tabu_doxygen}[2011/02/26 v2.8 - flexible LaTeX tabulars (FC), frozen version for doxygen]
+\RequirePackage{array}[2008/09/09]
+\RequirePackage{varwidth}[2009/03/30]
+\AtEndOfPackage{\tabu@AtEnd \let\tabu@AtEnd \@undefined}
+\let\tabu@AtEnd\@empty
+\def\TMP@EnsureCode#1={%
+    \edef\tabu@AtEnd{\tabu@AtEnd
+                     \catcode#1 \the\catcode#1}%
+    \catcode#1=%
+}% \TMP@EnsureCode
+\TMP@EnsureCode 33 = 12 % !
+\TMP@EnsureCode 58 = 12 % : (for siunitx)
+\TMP@EnsureCode124 = 12 % |
+\TMP@EnsureCode 36 =  3 % $ = math shift
+\TMP@EnsureCode 38 =  4 % & = tab alignmment character
+\TMP@EnsureCode 32 = 10 % space
+\TMP@EnsureCode 94 =  7 % ^
+\TMP@EnsureCode 95 =  8 % _
+%% Constants --------------------------------------------------------
+\newcount \c@taburow        \def\thetaburow {\number\c@taburow}
+\newcount \tabu@nbcols
+\newcount \tabu@cnt
+\newcount \tabu@Xcol
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcount \tabu@alloc  \tabu@alloc=\m@ne
+\newcount \tabu@nested
+\def\tabu@alloc@{\global\advance\tabu@alloc \@ne \tabu@nested\tabu@alloc}
+\newdimen \tabu@target
+\newdimen \tabu@spreadtarget
+\newdimen \tabu@naturalX
+\newdimen \tabucolX
+\let\tabu@DELTA \@tempdimc
+\let\tabu@thick \@tempdima
+\let\tabu@on    \@tempdimb
+\let\tabu@off   \@tempdimc
+\newdimen \tabu@Xsum
+\newdimen \extrarowdepth
+\newdimen \abovetabulinesep
+\newdimen \belowtabulinesep
+\newdimen \tabustrutrule      \tabustrutrule \z@
+\newtoks \tabu@thebody
+\newtoks \tabu@footnotes
+\newsavebox \tabu@box
+\newsavebox \tabu@arstrutbox
+\newsavebox \tabu@hleads
+\newsavebox \tabu@vleads
+\newif \iftabu@colortbl
+\newif \iftabu@siunitx
+\newif \iftabu@measuring
+\newif \iftabu@spread
+\newif \iftabu@negcoef
+\newif \iftabu@everyrow
+\def\tabu@everyrowtrue {\global\let\iftabu@everyrow \iftrue}
+\def\tabu@everyrowfalse{\global\let\iftabu@everyrow \iffalse}
+\newif \iftabu@long
+\newif \iftabuscantokens
+\def\tabu@rescan {\tabu@verbatim \scantokens  }
+%% Utilities (for internal usage) -----------------------------------
+\def\tabu@gobblespace #1  {#1}
+\def\tabu@gobbletoken #1#2{#1}
+\def\tabu@gobbleX{\futurelet\@let@token \tabu@gobblex}
+\def\tabu@gobblex{\if ^^J\noexpand\@let@token \expandafter\@gobble
+                  \else\ifx \@sptoken\@let@token
+                    \expandafter\tabu@gobblespace\expandafter\tabu@gobbleX
+                  \fi\fi
+}% \tabu@gobblex
+\def\tabu@X{^^J}
+{\obeyspaces
+\global\let\tabu@spxiii= % saves an active space (for \ifx)
+\gdef\tabu@@spxiii{ }}
+\def\tabu@ifenvir {% only for \multicolumn
+    \expandafter\tabu@if@nvir\csname\@currenvir\endcsname
+}% \tabu@ifenvir
+\def\tabu@if@nvir #1{\csname @\ifx\tabu#1first\else
+                              \ifx\longtabu#1first\else
+                              second\fi\fi oftwo\endcsname
+}% \tabu@ifenvir
+\def\tabu@modulo #1#2{\numexpr\ifnum\numexpr#1=\z@ 0\else #1-(#1-(#2-1)/2)/(#2)*(#2)\fi}
+{\catcode`\&=3
+\gdef\tabu@strtrim  #1{% #1 = control sequence to trim
+    \ifodd 1\ifx #1\@empty \else \ifx #1\space \else 0\fi \fi
+            \let\tabu@c@l@r \@empty       \let#1\@empty
+    \else   \expandafter  \tabu@trimspaces  #1&#1\@nnil
+    \fi
+}% \tabu@strtrim
+\gdef\tabu@trimspaces #1&#2\@nnil{\let\tabu@c@l@r=#2\tabu@firstspace .#1& &#2}%
+\gdef\tabu@firstspace #1#2#3 &{\tabu@lastspace #2#3&}
+\gdef\tabu@lastspace #1&#2&#3{\def #3{#1}%
+    \ifx #3\tabu@c@l@r \def\tabu@c@l@r{\protect\color{#1}}\expandafter\remove@to@nnil \fi
+    \tabu@trimspaces #1&#3\@nnil}
+}% \catcode
+\def\tabu@sanitizearg #1#2{{%
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef#2{#1}\tabu@strtrim#2\@onelevel@sanitize#2%
+    \expandafter}\expandafter\def\expandafter#2\expandafter{#2}%
+}% \tabu@sanitizearg
+\def\tabu@textbar #1{\begingroup \endlinechar\m@ne \scantokens{\def\:{|}}%
+    \expandafter\endgroup \expandafter#1\:% !!! semi simple group !!!
+}% \tabu@textbar
+\def\tabu@everyrow@bgroup{\iftabu@everyrow \begingroup \else \noalign{\ifnum0=`}\fi \fi}
+\def\tabu@everyrow@egroup{%
+    \iftabu@everyrow \expandafter \endgroup \the\toks@
+    \else            \ifnum0=`{\fi}%
+    \fi
+}% \tabu@everyrow@egroup
+\def\tabu@arstrut {\global\setbox\@arstrutbox \hbox{\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width  \z@}%
+}% \tabu@arstrut
+\def\tabu@rearstrut {%
+    \@tempdima \arraystretch\dimexpr\ht\strutbox+\extrarowheight \relax
+    \@tempdimb \arraystretch\dimexpr\dp\strutbox+\extrarowdepth  \relax
+    \ifodd 1\ifdim \ht\@arstrutbox=\@tempdima
+            \ifdim \dp\@arstrutbox=\@tempdimb 0 \fi\fi
+        \tabu@mkarstrut
+    \fi
+}% \tabu@rearstrut
+\def\tabu@@DBG #1{\ifdim\tabustrutrule>\z@ \color{#1}\fi}
+\def\tabu@DBG@arstrut {\global\setbox\@arstrutbox
+    \hbox to\z@{\hbox to\z@{\hss
+    {\tabu@DBG{cyan}\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \z@
+    width  \tabustrutrule}\kern-\tabustrutrule
+    {\tabu@DBG{pink}\vrule
+    height \z@
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width \tabustrutrule}}}%
+}% \tabu@DBG@arstrut
+\def\tabu@save@decl{\toks\count@ \expandafter{\the\toks\expandafter\count@
+                                                              \@nextchar}}%
+\def\tabu@savedecl{\ifcat$\d@llarend\else
+       \let\save@decl \tabu@save@decl \fi % no inversion of tokens in text mode
+}% \tabu@savedecl
+\def\tabu@finalstrut #1{\unskip\ifhmode\nobreak\fi\vrule height\z@ depth\z@ width\z@}
+\newcommand*\tabuDisableCommands {\g@addto@macro\tabu@trialh@@k }
+\let\tabu@trialh@@k \@empty
+\def\tabu@nowrite #1#{{\afterassignment}\toks@}
+\let\tabu@write\write
+\let\tabu@immediate\immediate
+\def\tabu@WRITE{\begingroup
+   \def\immediate\write{\aftergroup\endgroup
+                  \tabu@immediate\tabu@write}%
+}% \tabu@WRITE
+\expandafter\def\expandafter\tabu@GenericError\expandafter{%
+                      \expandafter\tabu@WRITE\GenericError}
+\def\tabu@warn{\tabu@WRITE\PackageWarning{tabu}}
+\def\tabu@noxfootnote [#1]{\@gobble}
+\def\tabu@nocolor #1#{\@gobble}
+\newcommand*\tabu@norowcolor[2][]{}
+\def\tabu@maybesiunitx #1{\def\tabu@temp{#1}%
+                          \futurelet\@let@token \tabu@m@ybesiunitx}
+\def\tabu@m@ybesiunitx #1{\def\tabu@m@ybesiunitx {%
+    \ifx #1\@let@token \let\tabu@cellleft \@empty \let\tabu@cellright \@empty \fi
+    \tabu@temp}% \tabu@m@ybesiunitx
+}\expandafter\tabu@m@ybesiunitx \csname siunitx_table_collect_begin:Nn\endcsname
+\def\tabu@celllalign@def #1{\def\tabu@celllalign{\tabu@maybesiunitx{#1}}}%
+%% Fixed vertical spacing adjustment: \extrarowsep ------------------
+\newcommand*\extrarowsep{\edef\tabu@C@extra{\the\numexpr\tabu@C@extra+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Gextra
+    \else               \aftergroup\tabu@n@Gextra
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@extra} \tabu@extra
+}% \extrarowsep
+\def\tabu@extra {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}%
+    \else   \let\tabu@temp \@empty
+            \afterassignment \tabu@setextrasep \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extra
+\def\tabu@setextra #1#2{\def\tabu@temp{\tabu@extr@#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@extr@ #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extr@
+\def\tabu@setextrasep {\extrarowheight=\extrarowdepth
+    \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+}% \tabu@setextrasep
+\def\tabu@Gextra{\ifx \tabu@G@extra\@empty \else {\tabu@Rextra}\fi}
+\def\tabu@n@Gextra{\ifx \tabu@G@extra\@empty \else \noalign{\tabu@Rextra}\fi}
+\def\tabu@Rextra{\tabu@Grestore \tabu@G@extra \tabu@C@extra}
+\let\tabu@C@extra \z@
+\let\tabu@G@extra \@empty
+%% Dynamic vertical spacing adjustment: \tabulinesep ----------------
+\newcommand*\tabulinesep{\edef\tabu@C@linesep{\the\numexpr\tabu@C@linesep+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Glinesep
+    \else               \aftergroup\tabu@n@Glinesep
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@linesep} \tabu@linesep
+}% \tabulinesep
+\def\tabu@linesep {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}%
+     \else  \let\tabu@temp \@empty
+            \afterassignment \tabu@setlinesep \abovetabulinesep
+     \fi \tabu@temp}%
+}% \tabu@linesep
+\def\tabu@setsep #1#2{\def\tabu@temp{\tabu@sets@p#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@sets@p #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+    \fi \tabu@temp}%
+}% \tabu@sets@p
+\def\tabu@setlinesep {\belowtabulinesep=\abovetabulinesep
+    \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+}% \tabu@setlinesep
+\def\tabu@Glinesep{\ifx \tabu@G@linesep\@empty \else {\tabu@Rlinesep}\fi}
+\def\tabu@n@Glinesep{\ifx \tabu@G@linesep\@empty \else \noalign{\tabu@Rlinesep}\fi}
+\def\tabu@Rlinesep{\tabu@Grestore \tabu@G@linesep \tabu@C@linesep}
+\let\tabu@C@linesep \z@
+\let\tabu@G@linesep \@empty
+%% \global\extrarowsep  and  \global\tabulinesep  -------------------
+\def\tabu@Gsave #1#2#3#4{\xdef#1{#1%
+    \toks#2{\toks\the\currentgrouplevel{\global#3\the#3\global#4\the#4}}}%
+}% \tabu@Gsave
+\def\tabu@Grestore#1#2{%
+    \toks#2{}#1\toks\currentgrouplevel\expandafter{\expandafter}\the\toks#2\relax
+    \ifcat$\the\toks\currentgrouplevel$\else
+        \global\let#1\@empty \global\let#2\z@
+        \the\toks\currentgrouplevel
+    \fi
+}% \tabu@Grestore
+%% Setting code for every row ---------------------------------------
+\newcommand*\everyrow{\tabu@everyrow@bgroup
+                      \tabu@start \z@ \tabu@stop \z@ \tabu@evrstartstop
+}% \everyrow
+\def\tabu@evrstartstop {\@ifnextchar^%
+    {\afterassignment \tabu@evrstartstop \tabu@stop=}%
+    {\ifx ^\@let@token
+            \afterassignment\tabu@evrstartstop \tabu@start=%
+     \else  \afterassignment\tabu@everyr@w     \toks@
+     \fi}%
+}% \tabu@evrstartstop
+\def\tabu@everyr@w {%
+    \xdef\tabu@everyrow{%
+        \noexpand\tabu@everyrowfalse
+        \let\noalign \relax
+        \noexpand\tabu@rowfontreset
+        \iftabu@colortbl \noexpand\tabu@rc@ \fi % \taburowcolors
+        \let\noexpand\tabu@docline \noexpand\tabu@docline@evr
+        \the\toks@
+        \noexpand\tabu@evrh@@k
+        \noexpand\tabu@rearstrut
+        \global\advance\c@taburow \@ne}%
+    \iftabu@everyrow \toks@\expandafter
+        {\expandafter\def\expandafter\tabu@evr@L\expandafter{\the\toks@}\ignorespaces}%
+    \else \xdef\tabu@evr@G{\the\toks@}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@everyr@w
+\def\tabu@evr {\def\tabu@evrh@@k}         % for internal use only
+\tabu@evr{}
+%% line style and leaders -------------------------------------------
+\newcommand*\newtabulinestyle [1]{%
+    {\@for \@tempa :=#1\do{\expandafter\tabu@newlinestyle \@tempa==\@nil}}%
+}% \newtabulinestyle
+\def\tabu@newlinestyle #1=#2=#3\@nil{\tabu@getline {#2}%
+    \tabu@sanitizearg {#1}\@tempa
+    \ifodd 1\ifx \@tempa\@empty \ifdefined\tabu@linestyle@ 0 \fi\fi
+    \global\expandafter\let
+        \csname tabu@linestyle@\@tempa \endcsname =\tabu@thestyle \fi
+}% \tabu@newlinestyle
+\newcommand*\tabulinestyle [1]{\tabu@everyrow@bgroup \tabu@getline{#1}%
+    \iftabu@everyrow
+        \toks@\expandafter{\expandafter \def \expandafter
+                    \tabu@ls@L\expandafter{\tabu@thestyle}\ignorespaces}%
+        \gdef\tabu@ls@{\tabu@ls@L}%
+    \else
+        \global\let\tabu@ls@G \tabu@thestyle
+        \gdef\tabu@ls@{\tabu@ls@G}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabulinestyle
+\newcommand*\taburulecolor{\tabu@everyrow@bgroup \tabu@textbar \tabu@rulecolor}
+\def\tabu@rulecolor #1{\toks@{}%
+    \def\tabu@temp #1##1#1{\tabu@ruledrsc{##1}}\@ifnextchar #1%
+                                                    \tabu@temp
+                                                 \tabu@rulearc
+}% \tabu@rulecolor
+\def\tabu@ruledrsc #1{\edef\tabu@temp{#1}\tabu@strtrim\tabu@temp
+    \ifx \tabu@temp\@empty \def\tabu@temp{\tabu@rule@drsc@ {}{}}%
+    \else \edef\tabu@temp{\noexpand\tabu@rule@drsc@ {}{\tabu@temp}}%
+    \fi
+    \tabu@temp
+}% \tabu@ruledrsc@
+\def\tabu@ruledrsc@   #1#{\tabu@rule@drsc@ {#1}}
+\def\tabu@rule@drsc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@{\let\CT@drsc@ \relax}%
+        \else        \toks@{\def\CT@drsc@{\color #1{#2}}}%
+        \fi
+    \else
+        \ifx \\#1#2\\\global\let\CT@drsc@ \relax
+        \else        \gdef\CT@drsc@{\color #1{#2}}%
+        \fi
+    \fi
+    \tabu@rulearc
+}% \tabu@rule@drsc@
+\def\tabu@rulearc    #1#{\tabu@rule@arc@ {#1}}
+\def\tabu@rule@arc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@\expandafter{\the\toks@ \def\CT@arc@{}}%
+        \else        \toks@\expandafter{\the\toks@ \def\CT@arc@{\color #1{#2}}}%
+        \fi
+        \toks@\expandafter{\the\toks@
+            \let\tabu@arc@L  \CT@arc@
+            \let\tabu@drsc@L \CT@drsc@
+            \ignorespaces}%
+    \else
+        \ifx \\#1#2\\\gdef\CT@arc@{}%
+        \else        \gdef\CT@arc@{\color #1{#2}}%
+        \fi
+        \global\let\tabu@arc@G  \CT@arc@
+        \global\let\tabu@drsc@G \CT@drsc@
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rule@arc@
+\def\taburowcolors {\tabu@everyrow@bgroup \@testopt \tabu@rowcolors 1}
+\def\tabu@rowcolors [#1]#2#{\tabu@rowc@lors{#1}{#2}}
+\def\tabu@rowc@lors #1#2#3{%
+    \toks@{}\@defaultunits \count@      =\number0#2\relax \@nnil
+            \@defaultunits \tabu@start  =\number0#1\relax \@nnil
+    \ifnum \count@<\tw@ \count@=\tw@ \fi
+    \advance\tabu@start \m@ne
+    \ifnum \tabu@start<\z@ \tabu@start \z@ \fi
+    \tabu@rowcolorseries #3\in@..\in@ \@nnil
+}% \tabu@rowcolors
+\def\tabu@rowcolorseries #1..#2\in@ #3\@nnil {%
+    \ifx \in@#1\relax
+        \iftabu@everyrow \toks@{\def\tabu@rc@{}\let\tabu@rc@L \tabu@rc@}%
+        \else   \gdef\tabu@rc@{}\global\let\tabu@rc@G \tabu@rc@
+        \fi
+    \else
+        \ifx \\#2\\\tabu@rowcolorserieserror \fi
+        \tabu@sanitizearg{#1}\tabu@temp
+        \tabu@sanitizearg{#2}\@tempa
+        \advance\count@ \m@ne
+    \iftabu@everyrow
+        \def\tabu@rc@ ##1##2##3##4{\def\tabu@rc@{%
+            \ifnum ##2=\c@taburow
+                \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{##3}{##4}\fi
+            \ifnum \c@taburow<##2 \else
+                \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\z@
+                    \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+                \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+                \rowcolor{tabu@rc@\the\tabu@nested}\fi}%
+        }\edef\x{\noexpand\tabu@rc@           {\the\count@}
+                                          {\the\tabu@start}
+                                               {\tabu@temp}
+                                                  {\@tempa}%
+                }\x
+        \toks@\expandafter{\expandafter\def\expandafter\tabu@rc@\expandafter{\tabu@rc@}}%
+        \toks@\expandafter{\the\toks@ \let\tabu@rc@L \tabu@rc@ \ignorespaces}%
+    \else   % inside \noalign
+        \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{\tabu@temp}{\@tempa}%
+        \expandafter\resetcolorseries\expandafter[\the\count@]{tabu@rcseries@\the\tabu@nested}%
+        \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+        \let\noalign \relax \rowcolor{tabu@rc@\the\tabu@nested}%
+        \def\tabu@rc@ ##1##2{\gdef\tabu@rc@{%
+            \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\@ne
+                \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+            \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+            \rowcolor{tabu@rc@\the\tabu@nested}}%
+        }\edef\x{\noexpand\tabu@rc@{\the\count@}{\the\c@taburow}}\x
+        \global\let\tabu@rc@G \tabu@rc@
+    \fi
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rowcolorseries
+\tabuDisableCommands {\let\tabu@rc@ \@empty }
+\def\tabu@rowcolorserieserror {\PackageError{tabu}
+    {Invalid syntax for \string\taburowcolors
+    \MessageBreak Please look at the documentation!}\@ehd
+}% \tabu@rowcolorserieserror
+\newcommand*\tabureset {%
+    \tabulinesep=\z@ \extrarowsep=\z@ \extratabsurround=\z@
+    \tabulinestyle{}\everyrow{}\taburulecolor||{}\taburowcolors{}%
+}% \tabureset
+%% Parsing the line styles ------------------------------------------
+\def\tabu@getline #1{\begingroup
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef\tabu@temp{#1}\tabu@sanitizearg{#1}\@tempa
+    \let\tabu@thestyle \relax
+    \ifcsname tabu@linestyle@\@tempa \endcsname
+            \edef\tabu@thestyle{\endgroup
+                \def\tabu@thestyle{\expandafter\noexpand
+                    \csname tabu@linestyle@\@tempa\endcsname}%
+            }\tabu@thestyle
+    \else   \expandafter\tabu@definestyle \tabu@temp \@nil
+    \fi
+}% \tabu@getline
+\def\tabu@definestyle #1#2\@nil {\endlinechar \m@ne \makeatletter
+    \tabu@thick \maxdimen  \tabu@on \maxdimen   \tabu@off \maxdimen
+    \let\tabu@c@lon \@undefined  \let\tabu@c@loff \@undefined
+    \ifodd 1\ifcat .#1\else\ifcat\relax #1\else 0\fi\fi % catcode 12 or non expandable cs
+            \def\tabu@temp{\tabu@getparam{thick}}%
+    \else   \def\tabu@temp{\tabu@getparam{thick}\maxdimen}%
+    \fi
+    {%
+        \let\tabu@ \relax
+        \def\:{\obeyspaces \tabu@oXIII \tabu@commaXIII \edef\:}% (space active \: happy ;-))
+        \scantokens{\:{\tabu@temp #1#2 \tabu@\tabu@}}%
+                        \expandafter}\expandafter
+                                \def\expandafter\:\expandafter{\:}% line spec rewritten now ;-)
+    \def\;{\def\:}%
+    \scantokens\expandafter{\expandafter\;\expandafter{\:}}% space is now inactive (catcode 10)
+    \let\tabu@ \tabu@getcolor    \:%    all arguments are ready now ;-)
+    \ifdefined\tabu@c@lon \else \let\tabu@c@lon\@empty \fi
+    \ifx \tabu@c@lon\@empty \def\tabu@c@lon{\CT@arc@}\fi
+    \ifdefined\tabu@c@loff \else \let\tabu@c@loff \@empty        \fi
+    \ifdim \tabu@on=\maxdimen \ifdim \tabu@off<\maxdimen
+                                  \tabu@on \tabulineon        \fi\fi
+    \ifdim \tabu@off=\maxdimen \ifdim \tabu@on<\maxdimen
+                                  \tabu@off \tabulineoff      \fi\fi
+    \ifodd 1\ifdim \tabu@off=\maxdimen \ifdim \tabu@on=\maxdimen 0 \fi\fi
+            \in@true    % <leaders>
+    \else   \in@false   % <rule>
+    \fi
+    \ifdim\tabu@thick=\maxdimen \def\tabu@thick{\arrayrulewidth}%
+    \else                       \edef\tabu@thick{\the\tabu@thick}%
+    \fi
+    \edef \tabu@thestyle ##1##2{\endgroup
+        \def\tabu@thestyle{%
+            \ifin@  \noexpand\tabu@leadersstyle {\tabu@thick}
+                                                {\the\tabu@on}{##1}
+                                                {\the\tabu@off}{##2}%
+            \else   \noexpand\tabu@rulesstyle
+                            {##1\vrule width \tabu@thick}%
+                            {##1\leaders \hrule height \tabu@thick \hfil}%
+            \fi}%
+    }\expandafter \expandafter
+        \expandafter \tabu@thestyle \expandafter
+            \expandafter \expandafter
+                {\expandafter\tabu@c@lon\expandafter}\expandafter{\tabu@c@loff}%
+}% \tabu@definestyle
+{\catcode`\O=\active \lccode`\O=`\o \catcode`\,=\active
+    \lowercase{\gdef\tabu@oXIII {\catcode`\o=\active \let O=\tabu@oxiii}}
+    \gdef\tabu@commaXIII {\catcode`\,=\active \let ,=\space}
+}% \catcode
+\def\tabu@oxiii #1{%
+    \ifcase  \ifx n#1\z@ \else
+             \ifx f#1\@ne\else
+             \tw@       \fi\fi
+          \expandafter\tabu@onxiii
+    \or   \expandafter\tabu@ofxiii
+    \else o%
+    \fi#1}%
+\def\tabu@onxiii #1#2{%
+    \ifcase  \ifx  !#2\tw@          \else
+             \ifcat.\noexpand#2\z@  \else
+             \ifx \tabu@spxiii#2\@ne\else
+             \tw@               \fi\fi\fi
+          \tabu@getparam{on}#2\expandafter\@gobble
+    \or   \expandafter\tabu@onxiii    % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}%
+\def\tabu@ofxiii #1#2{%
+    \ifx #2f\expandafter\tabu@offxiii
+    \else   o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@offxiii #1#2{%
+    \ifcase \ifx  !#2\tw@           \else
+            \ifcat.\noexpand#2\z@   \else
+            \ifx\tabu@spxiii#2\@ne  \else
+            \tw@                \fi\fi\fi
+          \tabu@getparam{off}#2\expandafter\@gobble
+    \or   \expandafter\tabu@offxiii   % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@getparam #1{\tabu@ \csname tabu@#1\endcsname=}
+\def\tabu@getcolor #1{% \tabu@ <- \tabu@getcolor after \edef
+    \ifx \tabu@#1\else   % no more spec
+        \let\tabu@theparam=#1\afterassignment \tabu@getc@l@r #1\fi
+}% \tabu@getcolor
+\def\tabu@getc@l@r #1\tabu@ {%
+    \def\tabu@temp{#1}\tabu@strtrim \tabu@temp
+    \ifx \tabu@temp\@empty
+    \else%\ifcsname \string\color@\tabu@temp \endcsname  % if the color exists
+        \ifx \tabu@theparam \tabu@off   \let\tabu@c@loff \tabu@c@l@r
+        \else                           \let\tabu@c@lon  \tabu@c@l@r
+        \fi
+    %\else \tabu@warncolour{\tabu@temp}%
+    \fi%\fi
+    \tabu@ % next spec
+}% \tabu@getc@l@r
+\def\tabu@warncolour #1{\PackageWarning{tabu}
+    {Color #1 is not defined. Default color used}%
+}% \tabu@warncolour
+\def\tabu@leadersstyle #1#2#3#4#5{\def\tabu@leaders{{#1}{#2}{#3}{#4}{#5}}%
+    \ifx \tabu@leaders\tabu@leaders@G \else
+                \tabu@LEADERS{#1}{#2}{#3}{#4}{#5}\fi
+}% \tabu@leadersstyle
+\def\tabu@rulesstyle #1#2{\let\tabu@leaders \@undefined
+        \gdef\tabu@thevrule{#1}\gdef\tabu@thehrule{#2}%
+}% \tabu@rulesstyle
+%% The leaders boxes ------------------------------------------------
+\def\tabu@LEADERS #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    {\let\color \tabu@color % => during trials ->  \color = \tabu@nocolor
+    {%                      %    but the leaders boxes should have colors !
+    \def\@therule{\vrule}\def\@thick{height}\def\@length{width}%
+    \def\@box{\hbox}\def\@unbox{\unhbox}\def\@elt{\wd}%
+    \def\@skip{\hskip}\def\@ss{\hss}\def\tabu@leads{\tabu@hleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thehleaders \tabu@theleaders
+    }%
+    {%
+    \def\@therule{\hrule}\def\@thick{width}\def\@length{height}%
+    \def\@box{\vbox}\def\@unbox{\unvbox}\def\@elt{\ht}%
+    \def\@skip{\vskip}\def\@ss{\vss}\def\tabu@leads{\tabu@vleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thevleaders \tabu@theleaders
+    }%
+    \gdef\tabu@leaders@G{{#1}{#2}{#3}{#4}{#5}}%
+    }%
+}% \tabu@LEADERS
+\def\tabu@therule #1#2{\@therule \@thick#1\@length\dimexpr#2/2 \@depth\z@}
+\def\tabu@l@@d@rs #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    \global\setbox \tabu@leads=\@box{%
+        {#3\tabu@therule{#1}{#2}}%
+        \ifx\\#5\\\@skip#4\else{#5\tabu@therule{#1}{#4*2}}\fi
+        {#3\tabu@therule{#1}{#2}}}%
+    \global\setbox\tabu@leads=\@box to\@elt\tabu@leads{\@ss
+        {#3\tabu@therule{#1}{#2}}\@unbox\tabu@leads}%
+    \edef\tabu@theleaders ##1{\def\noexpand\tabu@theleaders {%
+        {##1\tabu@therule{#1}{#2}}%
+        \xleaders \copy\tabu@leads \@ss
+        \tabu@therule{0pt}{-#2}{##1\tabu@therule{#1}{#2}}}%
+    }\tabu@theleaders{#3}%
+}% \tabu@l@@d@rs
+%% \tabu \endtabu \tabu* \longtabu \endlongtabu \longtabu* ----------
+\newcommand*\tabu {\tabu@longfalse
+    \ifmmode \def\tabu@ {\array}\def\endtabu {\endarray}%
+    \else  \def\tabu@ {\tabu@tabular}\def\endtabu {\endtabular}\fi
+    \expandafter\let\csname tabu*\endcsname \tabu
+    \expandafter\def\csname endtabu*\endcsname{\endtabu}%
+    \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {tabu}
+\let\tabu@tabular \tabular % <For LyX: some users redefine \tabular...>
+\expandafter\def\csname tabu*\endcsname{\tabuscantokenstrue \tabu}
+\newcommand*\longtabu {\tabu@longtrue
+   \ifmmode\PackageError{tabu}{longtabu not allowed in math mode}\fi
+   \def\tabu@{\longtable}\def\endlongtabu{\endlongtable}%
+   \LTchunksize=\@M
+   \expandafter\let\csname tabu*\endcsname \tabu
+   \expandafter\def\csname endlongtabu*\endcsname{\endlongtabu}%
+   \let\LT@startpbox \tabu@LT@startpbox % \everypar{ array struts }
+   \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {longtabu}
+\expandafter\def\csname longtabu*\endcsname{\tabuscantokenstrue \longtabu}
+\def\tabu@nolongtabu{\PackageError{tabu}
+   {longtabu requires the longtable package}\@ehd}
+%% Read the target and  then : \tabular or \@array ------------------
+\def\tabu@settarget {\futurelet\@let@token \tabu@sett@rget }
+\def\tabu@sett@rget {\tabu@target \z@
+   \ifcase \ifx \bgroup\@let@token   \z@  \else
+           \ifx \@sptoken\@let@token \@ne \else
+           \if t\@let@token          \tw@ \else
+           \if s\@let@token          \thr@@\else
+           \z@\fi\fi\fi\fi
+         \expandafter\tabu@begin
+   \or   \expandafter\tabu@gobblespace\expandafter\tabu@settarget
+   \or   \expandafter\tabu@to
+   \or   \expandafter\tabu@spread
+   \fi
+}% \tabu@sett@rget
+\def\tabu@to to{\def\tabu@halignto{to}\tabu@gettarget}
+\def\tabu@spread spread{\tabu@spreadtrue\def\tabu@halignto{spread}\tabu@gettarget}
+\def\tabu@gettarget {\afterassignment\tabu@linegoaltarget \tabu@target }
+\def\tabu@linegoaltarget {\futurelet\tabu@temp \tabu@linegoalt@rget }
+\def\tabu@linegoalt@rget {%
+   \ifx \tabu@temp\LNGL@setlinegoal
+        \LNGL@setlinegoal \expandafter \@firstoftwo \fi % @gobbles \LNGL@setlinegoal
+   \tabu@begin
+}% \tabu@linegoalt@rget
+\def\tabu@begin #1#{%
+    \iftabu@measuring \expandafter\tabu@nestedmeasure \fi
+    \ifdim \tabu@target=\z@ \let\tabu@halignto \@empty
+    \else                   \edef\tabu@halignto{\tabu@halignto\the\tabu@target}%
+    \fi
+    \@testopt \tabu@tabu@ \tabu@aligndefault #1\@nil
+}% \tabu@begin
+\long\def\tabu@tabu@ [#1]#2\@nil #3{\tabu@setup
+   \def\tabu@align {#1}\def\tabu@savedpream{\NC@find #3}%
+   \tabu@ [\tabu@align ]#2{#3\tabu@rewritefirst }%
+}% \tabu@tabu@
+\def\tabu@nestedmeasure {%
+    \ifodd 1\iftabu@spread \else \ifdim\tabu@target=\z@ \else 0 \fi\fi\relax
+            \tabu@spreadtrue
+    \else   \begingroup \iffalse{\fi \ifnum0=`}\fi
+            \toks@{}\def\tabu@stack{b}%
+            \expandafter\tabu@collectbody\expandafter\tabu@quickrule
+                                         \expandafter\endgroup
+    \fi
+}% \tabu@nestedmeasure
+\def\tabu@quickrule {\indent\vrule height\z@ depth\z@ width\tabu@target}
+%% \tabu@setup  \tabu@init  \tabu@indent
+\def\tabu@setup{\tabu@alloc@
+    \ifcase \tabu@nested
+        \ifmmode \else \iftabu@spread\else \ifdim\tabu@target=\z@
+            \let\tabu@afterendpar \par
+        \fi\fi\fi
+        \def\tabu@aligndefault{c}\tabu@init \tabu@indent
+    \else       % <nested tabu>
+        \def\tabu@aligndefault{t}\let\tabudefaulttarget \linewidth
+    \fi
+    \let\tabu@thetarget \tabudefaulttarget \let\tabu@restored \@undefined
+    \edef\tabu@NC@list{\the\NC@list}\NC@list{\NC@do \tabu@rewritefirst}%
+    \everycr{}\let\@startpbox \tabu@startpbox % for nested tabu inside longtabu...
+              \let\@endpbox   \tabu@endpbox   % idem "    "    "    "    "    "
+              \let\@tabarray  \tabu@tabarray  % idem "    "    "    "    "    "
+    \tabu@setcleanup \tabu@setreset
+}% \tabu@setup
+\def\tabu@init{\tabu@starttimer \tabu@measuringfalse
+    \edef\tabu@hfuzz  {\the\dimexpr\hfuzz+1sp}\global\tabu@footnotes{}%
+    \let\firsthline    \tabu@firsthline   \let\lasthline      \tabu@lasthline
+    \let\firstline     \tabu@firstline    \let\lastline       \tabu@lastline
+    \let\hline         \tabu@hline        \let\@xhline        \tabu@xhline
+    \let\color         \tabu@color        \let\@arstrutbox    \tabu@arstrutbox
+    \iftabu@colortbl\else\let\LT@@hline   \tabu@LT@@hline \fi
+    \tabu@trivlist     %<restore \\=\@normalcr inside lists>
+    \let\@footnotetext \tabu@footnotetext \let\@xfootnotetext \tabu@xfootnotetext
+    \let\@xfootnote    \tabu@xfootnote    \let\centering      \tabu@centering
+    \let\raggedright   \tabu@raggedright  \let\raggedleft     \tabu@raggedleft
+    \let\tabudecimal   \tabu@tabudecimal  \let\Centering      \tabu@Centering
+    \let\RaggedRight   \tabu@RaggedRight  \let\RaggedLeft     \tabu@RaggedLeft
+    \let\justifying    \tabu@justifying   \let\rowfont        \tabu@rowfont
+    \let\fbox          \tabu@fbox         \let\color@b@x      \tabu@color@b@x
+    \let\tabu@@everycr \everycr           \let\tabu@@everypar \everypar
+    \let\tabu@prepnext@tokORI \prepnext@tok\let\prepnext@tok  \tabu@prepnext@tok
+    \let\tabu@multicolumnORI\multicolumn  \let\multicolumn    \tabu@multicolumn
+    \let\tabu@startpbox \@startpbox      % for nested tabu inside longtabu pfff !!!
+    \let\tabu@endpbox   \@endpbox        % idem  "    "    "    "    "    "    "
+    \let\tabu@tabarray  \@tabarray       % idem  "    "    "    "    "    "    "
+    \tabu@adl@fix      \let\endarray      \tabu@endarray % <fix> colortbl & arydshln (delarray)
+    \iftabu@colortbl\CT@everycr\expandafter{\expandafter\iftabu@everyrow \the\CT@everycr \fi}\fi
+}% \tabu@init
+\def\tabu@indent{% correction for indentation
+    \ifdim \parindent>\z@\ifx \linewidth\tabudefaulttarget
+    \everypar\expandafter{%
+        \the\everypar\everypar\expandafter{\the\everypar}%
+            \setbox\z@=\lastbox
+            \ifdim\wd\z@>\z@ \edef\tabu@thetarget
+                {\the\dimexpr -\wd\z@+\tabudefaulttarget}\fi
+            \box\z@}%
+    \fi\fi
+}% \tabu@indent
+\def\tabu@setcleanup {% saves last global assignments
+    \ifodd 1\ifmmode \else \iftabu@long \else 0\fi\fi\relax
+        \def\tabu@aftergroupcleanup{%
+                \def\tabu@aftergroupcleanup{\aftergroup\tabu@cleanup}}%
+    \else
+        \def\tabu@aftergroupcleanup{%
+                \aftergroup\aftergroup\aftergroup\tabu@cleanup
+                \let\tabu@aftergroupcleanup \relax}%
+    \fi
+    \let\tabu@arc@Gsave         \tabu@arc@G
+    \let\tabu@arc@G             \tabu@arc@L   % <init>
+    \let\tabu@drsc@Gsave        \tabu@drsc@G
+    \let\tabu@drsc@G            \tabu@drsc@L  % <init>
+    \let\tabu@ls@Gsave          \tabu@ls@G
+    \let\tabu@ls@G              \tabu@ls@L    % <init>
+    \let\tabu@rc@Gsave          \tabu@rc@G
+    \let\tabu@rc@G              \tabu@rc@L    % <init>
+    \let\tabu@evr@Gsave         \tabu@evr@G
+    \let\tabu@evr@G             \tabu@evr@L   % <init>
+    \let\tabu@celllalign@save   \tabu@celllalign
+    \let\tabu@cellralign@save   \tabu@cellralign
+    \let\tabu@cellleft@save     \tabu@cellleft
+    \let\tabu@cellright@save    \tabu@cellright
+    \let\tabu@@celllalign@save  \tabu@@celllalign
+    \let\tabu@@cellralign@save  \tabu@@cellralign
+    \let\tabu@@cellleft@save    \tabu@@cellleft
+    \let\tabu@@cellright@save   \tabu@@cellright
+    \let\tabu@rowfontreset@save \tabu@rowfontreset
+    \let\tabu@@rowfontreset@save\tabu@@rowfontreset
+    \let\tabu@rowfontreset      \@empty
+    \edef\tabu@alloc@save      {\the\tabu@alloc}%   restore at \tabu@reset
+    \edef\c@taburow@save       {\the\c@taburow}%
+    \edef\tabu@naturalX@save   {\the\tabu@naturalX}%
+    \let\tabu@naturalXmin@save  \tabu@naturalXmin
+    \let\tabu@naturalXmax@save  \tabu@naturalXmax
+    \let\tabu@mkarstrut@save    \tabu@mkarstrut
+    \edef\tabu@clarstrut{%
+        \extrarowheight \the\dimexpr \ht\@arstrutbox-\ht\strutbox \relax
+        \extrarowdepth \the\dimexpr \dp\@arstrutbox-\dp\strutbox \relax
+        \let\noexpand\@arraystretch \@ne \noexpand\tabu@rearstrut}%
+}% \tabu@setcleanup
+\def\tabu@cleanup {\begingroup
+    \globaldefs\@ne         \tabu@everyrowtrue
+    \let\tabu@arc@G         \tabu@arc@Gsave
+    \let\CT@arc@            \tabu@arc@G
+    \let\tabu@drsc@G        \tabu@drsc@Gsave
+    \let\CT@drsc@           \tabu@drsc@G
+    \let\tabu@ls@G          \tabu@ls@Gsave
+    \let\tabu@ls@           \tabu@ls@G
+    \let\tabu@rc@G          \tabu@rc@Gsave
+    \let\tabu@rc@           \tabu@rc@G
+    \let\CT@do@color        \relax
+    \let\tabu@evr@G         \tabu@evr@Gsave
+    \let\tabu@celllalign    \tabu@celllalign@save
+    \let\tabu@cellralign    \tabu@cellralign@save
+    \let\tabu@cellleft      \tabu@cellleft@save
+    \let\tabu@cellright     \tabu@cellright@save
+    \let\tabu@@celllalign   \tabu@@celllalign@save
+    \let\tabu@@cellralign   \tabu@@cellralign@save
+    \let\tabu@@cellleft     \tabu@@cellleft@save
+    \let\tabu@@cellright    \tabu@@cellright@save
+    \let\tabu@rowfontreset  \tabu@rowfontreset@save
+    \let\tabu@@rowfontreset \tabu@@rowfontreset@save
+    \tabu@naturalX         =\tabu@naturalX@save
+    \let\tabu@naturalXmax   \tabu@naturalXmax@save
+    \let\tabu@naturalXmin   \tabu@naturalXmin@save
+    \let\tabu@mkarstrut     \tabu@mkarstrut@save
+    \c@taburow             =\c@taburow@save
+    \ifcase \tabu@nested    \tabu@alloc \m@ne\fi
+    \endgroup               % <end of \globaldefs>
+    \ifcase \tabu@nested
+        \the\tabu@footnotes \global\tabu@footnotes{}%
+        \tabu@afterendpar   \tabu@elapsedtime
+    \fi
+    \tabu@clarstrut
+    \everyrow\expandafter   {\tabu@evr@G}%
+}% \tabu@cleanup
+\let\tabu@afterendpar \relax
+\def\tabu@setreset {%
+    \edef\tabu@savedparams {%         \relax for \tabu@message@save
+        \ifmmode \col@sep \the\arraycolsep
+        \else    \col@sep \the\tabcolsep \fi    \relax
+        \arrayrulewidth   \the\arrayrulewidth   \relax
+        \doublerulesep    \the\doublerulesep    \relax
+        \extratabsurround \the\extratabsurround \relax
+        \extrarowheight   \the\extrarowheight   \relax
+        \extrarowdepth    \the\extrarowdepth    \relax
+        \abovetabulinesep \the\abovetabulinesep \relax
+        \belowtabulinesep \the\belowtabulinesep \relax
+        \def\noexpand\arraystretch{\arraystretch}%
+        \ifdefined\minrowclearance \minrowclearance\the\minrowclearance\relax\fi}%
+    \begingroup
+        \@temptokena\expandafter{\tabu@savedparams}% => only for \savetabu / \usetabu
+        \ifx \tabu@arc@L\relax  \else \tabu@setsave \tabu@arc@L \fi
+        \ifx \tabu@drsc@L\relax \else \tabu@setsave \tabu@drsc@L \fi
+        \tabu@setsave \tabu@ls@L      \tabu@setsave \tabu@evr@L
+        \expandafter \endgroup \expandafter
+            \def\expandafter\tabu@saved@ \expandafter{\the\@temptokena
+                \let\tabu@arc@G  \tabu@arc@L
+                \let\tabu@drsc@G \tabu@drsc@L
+                \let\tabu@ls@G   \tabu@ls@L
+                \let\tabu@rc@G   \tabu@rc@L
+                \let\tabu@evr@G  \tabu@evr@L}%
+    \def\tabu@reset{\tabu@savedparams
+        \tabu@everyrowtrue  \c@taburow \z@
+        \let\CT@arc@        \tabu@arc@L
+        \let\CT@drsc@       \tabu@drsc@L
+        \let\tabu@ls@       \tabu@ls@L
+        \let\tabu@rc@       \tabu@rc@L
+        \global\tabu@alloc  \tabu@alloc@save
+        \everyrow\expandafter{\tabu@evr@L}}%
+}% \tabu@reset
+\def\tabu@setsave #1{\expandafter\tabu@sets@ve #1\@nil{#1}}
+\long\def\tabu@sets@ve #1\@nil #2{\@temptokena\expandafter{\the\@temptokena \def#2{#1}}}
+%% The Rewritting Process -------------------------------------------
+\def\tabu@newcolumntype #1{%
+    \expandafter\tabu@new@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@newcolumntype
+\def\tabu@new@columntype #1#2#3{%
+    \def#1##1#3{\NC@{##1}}%
+    \let#2\relax \newcommand*#2%
+}% \tabu@new@columntype
+\def\tabu@privatecolumntype #1{%
+    \expandafter\tabu@private@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\expandafter\endcsname
+        \csname tabu@NC@find@\string#1\expandafter\endcsname
+        \csname tabu@NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@privatecolumntype
+\def\tabu@private@columntype#1#2#3#4{%
+    \g@addto@macro\tabu@privatecolumns{\let#1#3\let#2#4}%
+    \tabu@new@columntype#3#4%
+}% \tabu@private@columntype
+\let\tabu@privatecolumns \@empty
+\newcommand*\tabucolumn [1]{\expandafter \def \expandafter
+    \tabu@highprioritycolumns\expandafter{\tabu@highprioritycolumns
+                                          \NC@do #1}}%
+\let\tabu@highprioritycolumns \@empty
+%% The  |  ``column'' : rewriting process --------------------------
+\tabu@privatecolumntype |{\tabu@rewritevline}
+\newcommand*\tabu@rewritevline[1][]{\tabu@vlinearg{#1}%
+                \expandafter \NC@find \tabu@rewritten}
+\def\tabu@lines #1{%
+    \ifx|#1\else \tabu@privatecolumntype #1{\tabu@rewritevline}\fi
+    \NC@list\expandafter{\the\NC@list \NC@do #1}%
+}% \tabu@lines@
+\def\tabu@vlinearg #1{%
+    \ifx\\#1\\\def\tabu@thestyle {\tabu@ls@}%
+    \else\tabu@getline {#1}%
+    \fi
+    \def\tabu@rewritten ##1{\def\tabu@rewritten{!{##1\tabu@thevline}}%
+    }\expandafter\tabu@rewritten\expandafter{\tabu@thestyle}%
+    \expandafter \tabu@keepls \tabu@thestyle \@nil
+}% \tabu@vlinearg
+\def\tabu@keepls #1\@nil{%
+    \ifcat $\@cdr #1\@nil $%
+    \ifx \relax#1\else
+    \ifx \tabu@ls@#1\else
+        \let#1\relax
+        \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                \tabu@savels\noexpand#1}\fi\fi\fi
+}% \tabu@keepls
+\def\tabu@thevline {\begingroup
+    \ifdefined\tabu@leaders
+        \setbox\@tempboxa=\vtop to\dimexpr
+                      \ht\@arstrutbox+\dp\@arstrutbox{{\tabu@thevleaders}}%
+        \ht\@tempboxa=\ht\@arstrutbox \dp\@tempboxa=\dp\@arstrutbox
+        \box\@tempboxa
+    \else
+                \tabu@thevrule
+    \fi             \endgroup
+}% \tabu@thevline
+\def\tabu@savels #1{%
+    \expandafter\let\csname\string#1\endcsname #1%
+    \expandafter\def\expandafter\tabu@reset\expandafter{\tabu@reset
+                                                    \tabu@resetls#1}}%
+\def\tabu@resetls #1{\expandafter\let\expandafter#1\csname\string#1\endcsname}%
+%% \multicolumn inside tabu environment -----------------------------
+\tabu@newcolumntype \tabu@rewritemulticolumn{%
+    \aftergroup \tabu@endrewritemulticolumn % after \@mkpream group
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@NC@list}%
+    \let\tabu@savels \relax
+    \NC@find
+}% \tabu@rewritemulticolumn
+\def\tabu@endrewritemulticolumn{\gdef\tabu@mkpreambuffer{}\endgroup}
+\def\tabu@multicolumn{\tabu@ifenvir \tabu@multic@lumn \tabu@multicolumnORI}
+\long\def\tabu@multic@lumn #1#2#3{\multispan{#1}\begingroup
+    \tabu@everyrowtrue
+    \NC@list{\NC@do \tabu@rewritemulticolumn}%
+    \expandafter\@gobbletwo % gobbles \multispan{#1}
+         \tabu@multicolumnORI{#1}{\tabu@rewritemulticolumn #2}%
+                {\iftabuscantokens \tabu@rescan \else \expandafter\@firstofone \fi
+                {#3}}%
+}% \tabu@multic@lumn
+%% The X column(s): rewriting process -----------------------------
+\tabu@privatecolumntype X[1][]{\begingroup \tabu@siunitx{\endgroup \tabu@rewriteX {#1}}}
+\def\tabu@nosiunitx #1{#1{}{}\expandafter \NC@find \tabu@rewritten }
+\def\tabu@siunitx   #1{\@ifnextchar \bgroup
+                     {\tabu@rewriteX@Ss{#1}}
+                      {\tabu@nosiunitx{#1}}}
+\def\tabu@rewriteX@Ss #1#2{\@temptokena{}%
+    \@defaultunits \let\tabu@temp =#2\relax\@nnil
+    \ifodd 1\ifx S\tabu@temp \else \ifx s\tabu@temp \else 0 \fi\fi
+        \def\NC@find{\def\NC@find >####1####2<####3\relax{#1 {####1}{####3}%
+            }\expandafter\NC@find \the\@temptokena \relax
+        }\expandafter\NC@rewrite@S \@gobble #2\relax
+    \else \tabu@siunitxerror
+    \fi
+    \expandafter \NC@find \tabu@rewritten
+}% \tabu@rewriteX@Ss
+\def\tabu@siunitxerror {\PackageError{tabu}{Not a S nor s column !
+        \MessageBreak X column can only embed siunitx S or s columns}\@ehd
+}% \tabu@siunitxerror
+\def\tabu@rewriteX #1#2#3{\tabu@Xarg {#1}{#2}{#3}%
+    \iftabu@measuring
+    \else \tabu@measuringtrue % first X column found in the preamble
+        \let\@halignto \relax   \let\tabu@halignto \relax
+        \iftabu@spread \tabu@spreadtarget \tabu@target \tabu@target \z@
+        \else          \tabu@spreadtarget \z@ \fi
+        \ifdim \tabu@target=\z@
+                \setlength\tabu@target \tabu@thetarget
+                \tabu@message{\tabu@message@defaulttarget}%
+        \else   \tabu@message{\tabu@message@target}\fi
+    \fi
+}% \tabu@rewriteX
+\def\tabu@rewriteXrestore #1#2#3{\let\@halignto \relax
+                                \def\tabu@rewritten{l}}
+\def\tabu@Xarg #1#2#3{%
+   \advance\tabu@Xcol \@ne      \let\tabu@Xlcr  \@empty
+   \let\tabu@Xdisp    \@empty   \let\tabu@Xmath \@empty
+    \ifx\\#1\\%    <shortcut when no option>
+         \def\tabu@rewritten{p}\tabucolX \p@        % <default coef = 1>
+    \else
+         \let\tabu@rewritten \@empty   \let\tabu@temp \@empty  \tabucolX \z@
+         \tabu@Xparse {}#1\relax
+    \fi
+    \tabu@Xrewritten{#2}{#3}%
+}% \tabu@Xarg
+\def\tabu@Xparse #1{\futurelet\@let@token \tabu@Xtest}
+\expandafter\def\expandafter\tabu@Xparsespace\space{\tabu@Xparse{}}
+\def\tabu@Xtest{%
+   \ifcase \ifx \relax\@let@token \z@ \else
+           \if ,\@let@token \m@ne\else
+           \if p\@let@token 1\else
+           \if m\@let@token 2\else
+           \if b\@let@token 3\else
+           \if l\@let@token 4\else
+           \if c\@let@token 5\else
+           \if r\@let@token 6\else
+           \if j\@let@token 7\else
+           \if L\@let@token 8\else
+           \if C\@let@token 9\else
+           \if R\@let@token 10\else
+           \if J\@let@token 11\else
+           \ifx \@sptoken\@let@token 12\else
+           \if .\@let@token 13\else
+           \if -\@let@token 13\else
+           \ifcat $\@let@token 14\else
+           15\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+   \or \tabu@Xtype {p}%
+   \or \tabu@Xtype {m}%
+   \or \tabu@Xtype {b}%
+   \or \tabu@Xalign \raggedright\relax
+   \or \tabu@Xalign \centering\relax
+   \or \tabu@Xalign \raggedleft\relax
+   \or \tabu@Xalign \tabu@justify\relax
+   \or \tabu@Xalign \RaggedRight\raggedright
+   \or \tabu@Xalign \Centering\centering
+   \or \tabu@Xalign \RaggedLeft\raggedleft
+   \or \tabu@Xalign \justifying\tabu@justify
+   \or \expandafter \tabu@Xparsespace
+   \or \expandafter \tabu@Xcoef
+   \or \expandafter \tabu@Xm@th
+   \or \tabu@Xcoef{}%
+   \else\expandafter \tabu@Xparse
+   \fi
+}% \tabu@Xtest
+\def\tabu@Xalign #1#2{%
+    \ifx \tabu@Xlcr\@empty \else \PackageWarning{tabu}
+       {Duplicate horizontal alignment specification}\fi
+    \ifdefined#1\def\tabu@Xlcr{#1}\let#1\relax
+    \else       \def\tabu@Xlcr{#2}\let#2\relax\fi
+    \expandafter\tabu@Xparse
+}% \tabu@Xalign
+\def\tabu@Xtype #1{%
+    \ifx \tabu@rewritten\@empty \else \PackageWarning{tabu}
+            {Duplicate vertical alignment specification}\fi
+    \def\tabu@rewritten{#1}\expandafter\tabu@Xparse
+}% \tabu@Xtype
+\def\tabu@Xcoef#1{\edef\tabu@temp{\tabu@temp#1}%
+    \afterassignment\tabu@Xc@ef \tabu@cnt\number\if-#10\fi
+}% \tabu@Xcoef
+\def\tabu@Xc@ef{\advance\tabucolX \tabu@temp\the\tabu@cnt\p@
+    \tabu@Xparse{}%
+}% \tabu@Xc@ef
+\def\tabu@Xm@th #1{\futurelet \@let@token \tabu@Xd@sp}
+\def\tabu@Xd@sp{\let\tabu@Xmath=$%
+    \ifx $\@let@token \def\tabu@Xdisp{\displaystyle}%
+            \expandafter\tabu@Xparse
+    \else   \expandafter\tabu@Xparse\expandafter{\expandafter}%
+    \fi
+}% \tabu@Xd@sp
+\def\tabu@Xrewritten {%
+   \ifx  \tabu@rewritten\@empty \def\tabu@rewritten{p}\fi
+   \ifdim \tabucolX<\z@         \tabu@negcoeftrue
+   \else\ifdim \tabucolX=\z@    \tabucolX \p@
+   \fi\fi
+   \edef\tabu@temp{{\the\tabu@Xcol}{\tabu@strippt\tabucolX}}%
+   \edef\tabu@Xcoefs{\tabu@Xcoefs    \tabu@      \tabu@temp}%
+   \edef\tabu@rewritten ##1##2{\def\noexpand\tabu@rewritten{%
+        >{\tabu@Xlcr \ifx$\tabu@Xmath$\tabu@Xdisp\fi ##1}%
+                    \tabu@rewritten {\tabu@hsize \tabu@temp}%
+        <{##2\ifx$\tabu@Xmath$\fi}}%
+   }\tabu@rewritten
+}% \tabu@Xrewritten
+\def\tabu@hsize #1#2{%
+    \ifdim #2\p@<\z@
+        \ifdim \tabucolX=\maxdimen \tabu@wd{#1}\else
+        \ifdim \tabu@wd{#1}<-#2\tabucolX \tabu@wd{#1}\else -#2\tabucolX\fi
+        \fi
+   \else #2\tabucolX
+   \fi
+}% \tabu@hsize
+%% \usetabu  and  \preamble: rewritting process ---------------------
+\tabu@privatecolumntype \usetabu [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\let\tabu@rewriteX \tabu@rewriteXrestore
+             \csname tabu@saved@\string#1\expandafter\endcsname\expandafter\@ne}%
+    \fi
+}% \NC@rewrite@\usetabu
+\tabu@privatecolumntype \preamble [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\csname tabu@saved@\string#1\expandafter\endcsname\expandafter\z@}%
+    \fi
+}% \NC@rewrite@\preamble
+%% Controlling the rewritting process -------------------------------
+\tabu@newcolumntype \tabu@rewritefirst{%
+    \iftabu@long    \aftergroup \tabu@longpream  % <the whole implementation is here !>
+    \else           \aftergroup \tabu@pream
+    \fi
+    \let\tabu@          \relax      \let\tabu@hsize     \relax
+    \let\tabu@Xcoefs    \@empty     \let\tabu@savels    \relax
+    \tabu@Xcol          \z@         \tabu@cnt           \tw@
+    \gdef\tabu@mkpreambuffer{\tabu@{}}\tabu@measuringfalse
+    \global\setbox\@arstrutbox \box\@arstrutbox
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \NC@list\expandafter{\the\NC@list \NC@do X}%
+    \iftabu@siunitx     % <siunitx S and s columns>
+            \NC@list\expandafter{\the\NC@list \NC@do S\NC@do s}\fi
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@highprioritycolumns}%
+    \expandafter\def\expandafter\tabu@NC@list\expandafter{%
+                    \the\expandafter\NC@list \tabu@NC@list}%    % * | X S <original>
+    \NC@list\expandafter{\expandafter \NC@do \expandafter\usetabu
+                         \expandafter \NC@do \expandafter\preamble
+                         \the\NC@list \NC@do \tabu@rewritemiddle
+                                      \NC@do \tabu@rewritelast}%
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \edef\tabu@prev{\the\@temptokena}\NC@find \tabu@rewritemiddle
+}% NC@rewrite@\tabu@rewritefirst
+\tabu@newcolumntype \tabu@rewritemiddle{%
+    \edef\tabu@temp{\the\@temptokena}\NC@find \tabu@rewritelast
+}% \NC@rewrite@\tabu@rewritemiddle
+\tabu@newcolumntype \tabu@rewritelast{%
+    \ifx \tabu@temp\tabu@prev   \advance\tabu@cnt \m@ne
+            \NC@list\expandafter{\tabu@NC@list \NC@do \tabu@rewritemiddle
+                                               \NC@do \tabu@rewritelast}%
+    \else \let\tabu@prev\tabu@temp
+    \fi
+    \ifcase \tabu@cnt   \expandafter\tabu@endrewrite
+    \else               \expandafter\NC@find \expandafter\tabu@rewritemiddle
+    \fi
+}% \NC@rewrite@\tabu@rewritelast
+%% Choosing the strategy --------------------------------------------
+\def\tabu@endrewrite {%
+    \let\tabu@temp \NC@find
+    \ifx \@arrayright\relax \let\@arrayright \@empty  \fi
+    \count@=%
+        \ifx \@finalstrut\tabu@finalstrut \z@ % outer in mode 0 print
+             \iftabu@measuring
+                \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                    \tabu@target        \csname tabu@\the\tabu@nested.T\endcsname
+                    \tabucolX           \csname tabu@\the\tabu@nested.X\endcsname
+                    \edef\@halignto {\ifx\@arrayright\@empty to\tabu@target\fi}}%
+             \fi
+        \else\iftabu@measuring        4       % X columns
+                \xdef\tabu@mkpreambuffer{\tabu@{\tabu@mkpreambuffer
+                    \tabu@target        \the\tabu@target
+                    \tabu@spreadtarget  \the\tabu@spreadtarget}%
+                    \def\noexpand\tabu@Xcoefs{\tabu@Xcoefs}%
+                    \edef\tabu@halignto{\ifx \@arrayright\@empty to\tabu@target\fi}}%
+                 \let\tabu@Xcoefs \relax
+             \else\ifcase\tabu@nested \thr@@  % outer, no X
+                                      \global\let\tabu@afterendpar \relax
+                  \else               \@ne    % inner, no X, outer in mode 1 or 2
+                  \fi
+                  \ifdefined\tabu@usetabu
+                  \else \ifdim\tabu@target=\z@
+                  \else \let\tabu@temp \tabu@extracolsep
+                  \fi\fi
+             \fi
+        \fi
+    \xdef\tabu@mkpreambuffer{\count@ \the\count@ \tabu@mkpreambuffer}%
+    \tabu@temp
+}% \tabu@endrewrite
+\def\tabu@extracolsep{\@defaultunits    \expandafter\let
+    \expandafter\tabu@temp \expandafter=\the\@temptokena \relax\@nnil
+    \ifx \tabu@temp\@sptoken
+        \expandafter\tabu@gobblespace \expandafter\tabu@extracolsep
+    \else
+        \edef\tabu@temp{\noexpand\NC@find
+            \if |\noexpand\tabu@temp        @%
+            \else\if !\noexpand\tabu@temp   @%
+            \else                           !%
+            \fi\fi
+            {\noexpand\extracolsep\noexpand\@flushglue}}%
+    \fi
+    \tabu@temp
+}% \tabu@extrac@lsep
+%% Implementing the strategy ----------------------------------------
+\long\def\tabu@pream #1\@preamble {%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \ifdefined\tabu@usetabu \tabu@usetabu \tabu@target \z@ \fi
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\tabu@aftergroupcleanup}%
+    \tabu@thebody =\expandafter{\the\expandafter\tabu@thebody
+                                                \@preamble}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@pream
+\long\def\tabu@longpream #1\LT@bchunk #2\LT@bchunk{%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\LT@bchunk #2\tabu@aftergroupcleanup \LT@bchunk}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@longpream
+\def\tabu@select {%
+    \ifnum\tabu@nested>\z@ \tabuscantokensfalse \fi
+    \ifnum \count@=\@ne \iftabu@measuring \count@=\tw@ \fi\fi
+    \ifcase \count@
+        \global\let\tabu@elapsedtime \relax
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble       % vertical adjustment (inheritated from outer)
+    \or      % exit in vertical measure + struts per cell because no X and outer in mode 3
+        \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \or                            % exit without measure because no X and outer in mode 4
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \else                                   % needs trials
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@savecounters
+        \expandafter \tabu@setstrategy
+    \fi
+}% \tabu@select
+\def\tabu@@ {\gdef\tabu@mkpreambuffer}
+%% Protections to set up before trials ------------------------------
+\def\tabu@setstrategy {\begingroup  % <trials group>
+    \tabu@trialh@@k    \tabu@cnt    \z@  % number of trials
+    \hbadness          \@M          \let\hbadness          \@tempcnta
+    \hfuzz             \maxdimen    \let\hfuzz             \@tempdima
+    \let\write         \tabu@nowrite\let\GenericError      \tabu@GenericError
+    \let\savetabu      \@gobble     \let\tabudefaulttarget \linewidth
+    \let\@footnotetext \@gobble     \let\@xfootnote        \tabu@xfootnote
+    \let\color         \tabu@nocolor\let\rowcolor          \tabu@norowcolor
+    \let\tabu@aftergroupcleanup \relax % only after the last trial
+    \tabu@mkpreambuffer
+    \ifnum \count@>\thr@@ \let\@halignto \@empty  \tabucolX@init
+                          \def\tabu@lasttry{\m@ne\p@}\fi
+    \begingroup \iffalse{\fi \ifnum0=`}\fi
+        \toks@{}\def\tabu@stack{b}\iftabuscantokens \endlinechar=10 \obeyspaces \fi %
+                                  \tabu@collectbody \tabu@strategy %
+}% \tabu@setstrategy
+\def\tabu@savecounters{%
+    \def\@elt ##1{\csname c@##1\endcsname\the\csname c@##1\endcsname}%
+    \edef\tabu@clckpt {\begingroup \globaldefs=\@ne \cl@@ckpt \endgroup}\let\@elt \relax
+}% \tabu@savecounters
+\def\tabucolX@init {%  \tabucolX <= \tabu@target / (sum coefs > 0)
+    \dimen@ \z@ \tabu@Xsum \z@ \tabucolX \z@ \let\tabu@ \tabu@Xinit \tabu@Xcoefs
+    \ifdim \dimen@>\z@
+        \@tempdima \dimexpr \tabu@target *\p@/\dimen@ + \tabu@hfuzz\relax
+        \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+    \fi
+}% \tabucolX@init
+\def\tabu@Xinit #1#2{\tabu@Xcol #1 \advance \tabu@Xsum
+    \ifdim #2\p@>\z@ #2\p@  \advance\dimen@ #2\p@
+    \else           -#2\p@  \tabu@negcoeftrue
+                            \@tempdima \dimexpr \tabu@target*\p@/\dimexpr-#2\p@\relax \relax
+                            \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+                            \tabu@wddef{#1}{0pt}%
+    \fi
+}% \tabu@Xinit
+%% Collecting the environment body ----------------------------------
+\long\def\tabu@collectbody #1#2\end #3{%
+    \edef\tabu@stack{\tabu@pushbegins #2\begin\end\expandafter\@gobble\tabu@stack}%
+    \ifx \tabu@stack\@empty
+        \toks@\expandafter{\expandafter\tabu@thebody\expandafter{\the\toks@ #2}%
+                \def\tabu@end@envir{\end{#3}}%
+                \iftabuscantokens
+                    \iftabu@long \def\tabu@endenvir {\end{#3}\tabu@gobbleX}%
+                    \else        \def\tabu@endenvir {\let\endarray \@empty
+                                                     \end{#3}\tabu@gobbleX}%
+                    \fi
+                \else           \def\tabu@endenvir  {\end{#3}}\fi}%
+        \let\tabu@collectbody \tabu@endofcollect
+    \else\def\tabu@temp{#3}%
+        \ifx \tabu@temp\@empty \toks@\expandafter{\the\toks@ #2\end }%
+        \else \ifx\tabu@temp\tabu@@spxiii \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \ifx\tabu@temp\tabu@X \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \toks@\expandafter{\the\toks@ #2\end{#3}}%
+        \fi\fi\fi
+    \fi
+    \tabu@collectbody{#1}%
+}% \tabu@collectbody
+\long\def\tabu@pushbegins#1\begin#2{\ifx\end#2\else b\expandafter\tabu@pushbegins\fi}%
+\def\tabu@endofcollect #1{\ifnum0=`{}\fi
+                          \expandafter\endgroup \the\toks@  #1%
+}% \tabu@endofcollect
+%% The trials: switching between strategies -------------------------
+\def\tabu@strategy {\relax  % stops \count@ assignment !
+    \ifcase\count@          % case 0 = print with vertical adjustment (outer is finished)
+        \expandafter \tabu@endoftrials
+    \or                     % case 1 = exit in vertical measure (outer in mode 3)
+        \expandafter\xdef\csname tabu@\the\tabu@nested.T\endcsname{\the\tabu@target}%
+        \expandafter\xdef\csname tabu@\the\tabu@nested.X\endcsname{\the\tabucolX}%
+        \expandafter \tabu@endoftrials
+    \or                     % case 2 = exit with a rule replacing the table (outer in mode 4)
+        \expandafter \tabu@quickend
+    \or                     % case 3 = outer is in mode 3 because of no X
+        \begingroup
+            \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+            \def\tabu@cellralign{\tabu@verticalspacing}%
+            \expandafter \tabu@measuring
+    \else                   % case 4 = horizontal measure
+        \begingroup
+            \global\let\tabu@elapsedtime \tabu@message@etime
+            \long\def\multicolumn##1##2##3{\multispan{##1}}%
+            \let\tabu@startpboxORI \@startpbox
+            \iftabu@spread
+                    \def\tabu@naturalXmax {\z@}%
+                    \let\tabu@naturalXmin \tabu@naturalXmax
+                    \tabu@evr{\global\tabu@naturalX \z@}%
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else\iftabu@negcoef
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else   \let\@startpbox \tabu@startpboxquick
+            \fi\fi
+            \expandafter \tabu@measuring
+    \fi
+}% \tabu@strategy
+\def\tabu@measuring{\expandafter \tabu@trial \expandafter
+                                                \count@ \the\count@ \tabu@endtrial
+}% \tabu@measuring
+\def\tabu@trial{\iftabu@long \tabu@longtrial \else \tabu@shorttrial \fi}
+\def\tabu@shorttrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    $\iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \csname tabu@adl@endtrial\endcsname
+                         \endarray}$\egroup             % got \tabu@box
+}% \tabu@shorttrial
+\def\tabu@longtrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    \iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \tabuendlongtrial}\egroup      % got \tabu@box
+}% \tabu@longtrial
+\def\tabuendlongtrial{% no @ allowed for \scantokens
+    \LT@echunk  \global\setbox\@ne \hbox{\unhbox\@ne}\kern\wd\@ne
+                \LT@get@widths
+}% \tabuendlongtrial
+\def\tabu@adl@endtrial{% <arydshln in nested trials - problem for global column counters!>
+    \crcr \noalign{\global\adl@ncol \tabu@nbcols}}% anything global is crap, junky and fails !
+\def\tabu@seteverycr {\tabu@reset
+    \everycr \expandafter{\the\everycr  \tabu@everycr}%
+    \let\everycr \tabu@noeverycr                      % <for ialign>
+}% \tabu@seteverycr
+\def\tabu@noeverycr{{\aftergroup\tabu@restoreeverycr \afterassignment}\toks@}
+\def\tabu@restoreeverycr {\let\everycr \tabu@@everycr}
+\def\tabu@everycr {\iftabu@everyrow \noalign{\tabu@everyrow}\fi}
+\def\tabu@endoftrials {%
+    \iftabuscantokens   \expandafter\@firstoftwo
+    \else               \expandafter\@secondoftwo
+    \fi
+        {\expandafter \tabu@closetrialsgroup \expandafter
+         \tabu@rescan \expandafter{%
+                    \expandafter\tabuthepreamble
+                        \the\expandafter\tabu@thebody
+                                    \iftabu@long \else \endarray \fi}}
+        {\expandafter\tabu@closetrialsgroup \expandafter
+                    \tabuthepreamble
+                        \the\tabu@thebody}%
+                                        \tabu@endenvir      % Finish !
+}% \tabu@endoftrials
+\def\tabu@closetrialsgroup {%
+    \toks@\expandafter{\tabu@endenvir}%
+    \edef\tabu@bufferX{\endgroup
+        \tabucolX       \the\tabucolX
+        \tabu@target    \the\tabu@target
+        \tabu@cnt       \the\tabu@cnt
+        \def\noexpand\tabu@endenvir{\the\toks@}%
+        %Quid de \@halignto = \tabu@halignto ??
+    }% \tabu@bufferX
+    \tabu@bufferX
+    \ifcase\tabu@nested % print out (outer in mode 0)
+        \global\tabu@cnt \tabu@cnt
+        \tabu@evr{\tabu@verticaldynamicadjustment}%
+        \tabu@celllalign@def{\everypar{}}\let\tabu@cellralign \@empty
+        \let\@finalstrut \tabu@finalstrut
+    \else               % vertical measure of nested tabu
+        \tabu@evr{\tabu@verticalinit}%
+        \tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+    \fi
+    \tabu@clckpt \let\@halignto \tabu@halignto
+    \let\@halignto \@empty
+    \tabu@seteverycr
+    \ifdim \tabustrutrule>\z@ \ifnum\tabu@nested=\z@
+        \setbox\@arstrutbox \box\voidb@x % force \@arstrutbox to be rebuilt (visible struts)
+    \fi\fi
+}% \tabu@closetrialsgroup
+\def\tabu@quickend {\expandafter \endgroup \expandafter
+                        \tabu@target \the\tabu@target \tabu@quickrule
+                        \let\endarray \relax \tabu@endenvir
+}% \tabu@quickend
+\def\tabu@endtrial {\relax      % stops \count@ assignment !
+    \ifcase \count@ \tabu@err   % case 0 = impossible here
+    \or             \tabu@err   % case 1 = impossible here
+    \or             \tabu@err   % case 2 = impossible here
+    \or                         % case 3 = outer goes into mode 0
+        \def\tabu@bufferX{\endgroup}\count@ \z@
+    \else                       % case 4 = outer goes into mode 3
+        \iftabu@spread  \tabu@spreadarith % inner into mode 1 (outer in mode 3)
+        \else           \tabu@arith       %              or 2 (outer in mode 4)
+        \fi
+        \count@=%
+            \ifcase\tabu@nested     \thr@@  % outer goes into mode 3
+            \else\iftabu@measuring  \tw@    % outer is in mode 4
+            \else                   \@ne    % outer is in mode 3
+            \fi\fi
+        \edef\tabu@bufferX{\endgroup
+                           \tabucolX        \the\tabucolX
+                           \tabu@target     \the\tabu@target}%
+    \fi
+    \expandafter \tabu@bufferX \expandafter
+                                    \count@ \the\count@  \tabu@strategy
+}% \tabu@endtrial
+\def\tabu@err{\errmessage{(tabu) Internal impossible error! (\count@=\the\count@)}}
+%% The algorithms: compute the widths / stop or go on ---------------
+\def\tabu@arithnegcoef {%
+    \@tempdima \z@ \dimen@ \z@ \let\tabu@ \tabu@arith@negcoef \tabu@Xcoefs
+}% \tabu@arithnegcoef
+\def\tabu@arith@negcoef #1#2{%
+    \ifdim #2\p@>\z@    \advance\dimen@     #2\p@       % saturated by definition
+                        \advance\@tempdima  #2\tabucolX
+    \else
+        \ifdim -#2\tabucolX <\tabu@wd{#1}% c_i X < natural width <= \tabu@target-> saturated
+                        \advance\dimen@     -#2\p@
+                        \advance\@tempdima  -#2\tabucolX
+        \else
+                        \advance\@tempdima \tabu@wd{#1}% natural width <= c_i X => neutralised
+                        \ifdim \tabu@wd{#1}<\tabu@target \else % neutralised
+                        \advance\dimen@     -#2\p@ % saturated (natural width = tabu@target)
+                        \fi
+        \fi
+    \fi
+}% \tabu@arith@negcoef
+\def\tabu@givespace #1#2{% here \tabu@DELTA < \z@
+    \ifdim \@tempdima=\z@
+        \tabu@wddef{#1}{\the\dimexpr -\tabu@DELTA*\p@/\tabu@Xsum}%
+    \else
+        \tabu@wddef{#1}{\the\dimexpr \tabu@hsize{#1}{#2}
+                    *(\p@ -\tabu@DELTA*\p@/\@tempdima)/\p@\relax}%
+    \fi
+}% \tabu@givespace
+\def\tabu@arith {\advance\tabu@cnt \@ne
+    \ifnum \tabu@cnt=\@ne \tabu@message{\tabu@titles}\fi
+    \tabu@arithnegcoef
+    \@tempdimb \dimexpr \wd\tabu@box -\@tempdima \relax % <incompressible material>
+    \tabu@DELTA = \dimexpr \wd\tabu@box - \tabu@target \relax
+    \tabu@message{\tabu@message@arith}%
+    \ifdim \tabu@DELTA <\tabu@hfuzz
+        \ifdim \tabu@DELTA<\z@          % wd (tabu)<\tabu@target ?
+            \let\tabu@ \tabu@givespace \tabu@Xcoefs
+            \advance\@tempdima \@tempdimb \advance\@tempdima -\tabu@DELTA % for message
+        \else   % already converged: nothing to do but nearly impossible...
+        \fi
+        \tabucolX \maxdimen
+        \tabu@measuringfalse
+    \else                               % need for narrower X columns
+        \tabucolX =\dimexpr (\@tempdima -\tabu@DELTA) *\p@/\tabu@Xsum \relax
+        \tabu@measuringtrue
+        \@whilesw \iftabu@measuring\fi {%
+            \advance\tabu@cnt \@ne
+            \tabu@arithnegcoef
+            \tabu@DELTA =\dimexpr \@tempdima+\@tempdimb -\tabu@target \relax % always < 0 here
+            \tabu@message{\tabu@header
+                \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \@tempdima+\@tempdimb { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+                \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+                \ifdim -\tabu@DELTA<\tabu@hfuzz \tabu@spaces target ok\else
+                \tabu@msgalign \dimexpr -\tabu@DELTA *\p@/\dimen@ {}{}{}{}{}\@@
+                \fi}%
+            \ifdim -\tabu@DELTA<\tabu@hfuzz
+                \advance\@tempdima \@tempdimb % for message
+                \tabu@measuringfalse
+            \else
+                \advance\tabucolX \dimexpr -\tabu@DELTA *\p@/\dimen@ \relax
+            \fi
+        }%
+    \fi
+    \tabu@message{\tabu@message@reached}%
+    \edef\tabu@bufferX{\endgroup \tabu@cnt    \the\tabu@cnt
+                                 \tabucolX    \the\tabucolX
+                                 \tabu@target \the\tabu@target}%
+}% \tabu@arith
+\def\tabu@spreadarith {%
+    \dimen@ \z@ \@tempdima \tabu@naturalXmax \let\tabu@ \tabu@spread@arith \tabu@Xcoefs
+    \edef\tabu@naturalXmin {\the\dimexpr\tabu@naturalXmin*\dimen@/\p@}%
+    \@tempdimc =\dimexpr \wd\tabu@box -\tabu@naturalXmax+\tabu@naturalXmin \relax
+    \iftabu@measuring
+        \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+        \edef\tabu@bufferX{\endgroup \tabucolX \the\tabucolX \tabu@target\the\tabu@target}%
+    \else
+        \tabu@message{\tabu@message@spreadarith}%
+        \ifdim \dimexpr \@tempdimc+\tabu@spreadtarget >\tabu@target
+            \tabu@message{(tabu) spread
+                \ifdim \@tempdimc>\tabu@target useless here: default target used%
+                \else too large: reduced to fit default target\fi.}%
+        \else
+            \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+            \tabu@message{(tabu) spread: New target set to \the\tabu@target^^J}%
+        \fi
+        \begingroup \let\tabu@wddef \@gobbletwo
+            \@tempdimb \@tempdima
+            \tabucolX@init
+            \tabu@arithnegcoef
+            \wd\tabu@box =\dimexpr \wd\tabu@box +\@tempdima-\@tempdimb \relax
+        \expandafter\endgroup \expandafter\tabucolX \the\tabucolX
+        \tabu@arith
+    \fi
+}% \tabu@spreadarith
+\def\tabu@spread@arith #1#2{%
+    \ifdim #2\p@>\z@ \advance\dimen@ #2\p@
+    \else            \advance\@tempdima \tabu@wd{#1}\relax
+    \fi
+}% \tabu@spread@arith
+%% Reporting in the .log file ---------------------------------------
+\def\tabu@message@defaulttarget{%
+    \ifnum\tabu@nested=\z@^^J(tabu) Default target:
+    \ifx\tabudefaulttarget\linewidth    \string\linewidth
+        \ifdim \tabu@thetarget=\linewidth \else
+            -\the\dimexpr\linewidth-\tabu@thetarget\fi  =
+    \else\ifx\tabudefaulttarget\linegoal\string\linegoal=
+    \fi\fi
+    \else (tabu) Default target (nested): \fi
+    \the\tabu@target \on@line
+    \ifnum\tabu@nested=\z@ , page \the\c@page\fi}
+\def\tabu@message@target {^^J(tabu) Target specified:
+   \the\tabu@target \on@line, page \the\c@page}
+\def\tabu@message@arith {\tabu@header
+    \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+    \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+    \ifdim \tabu@DELTA<\tabu@hfuzz giving space\else
+    \tabu@msgalign \dimexpr (\@tempdima-\tabu@DELTA) *\p@/\tabu@Xsum -\tabucolX {}{}{}{}{}\@@
+    \fi
+}% \tabu@message@arith
+\def\tabu@message@spreadarith {\tabu@spreadheader
+   \tabu@msgalign \tabu@spreadtarget { }{ }{ }{ }{}\@@
+   \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{}\@@
+   \tabu@msgalign -\tabu@naturalXmax { }{}{}{}{}\@@
+   \tabu@msgalign \tabu@naturalXmin { }{ }{ }{ }{}\@@
+   \tabu@msgalign \ifdim \dimexpr\@tempdimc>\tabu@target \tabu@target
+                  \else  \@tempdimc+\tabu@spreadtarget \fi
+                  {}{}{}{}{}\@@}
+\def\tabu@message@negcoef #1#2{
+    \tabu@spaces\tabu@spaces\space * #1. X[\rem@pt#2]:
+    \space width = \tabu@wd {#1}
+        \expandafter\string\csname tabu@\the\tabu@nested.W\number#1\endcsname
+    \ifdim -\tabu@pt#2\tabucolX<\tabu@target
+    < \number-\rem@pt#2 X
+    = \the\dimexpr -\tabu@pt#2\tabucolX \relax
+    \else
+    <= \the\tabu@target\space < \number-\rem@pt#2 X\fi}
+\def\tabu@message@reached{\tabu@header
+     ******* Reached Target:
+            hfuzz = \tabu@hfuzz\on@line\space *******}
+\def\tabu@message@etime{\edef\tabu@stoptime{\the\pdfelapsedtime}%
+    \tabu@message{(tabu)\tabu@spaces Time elapsed during measure:
+    \the\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax sec
+    \the\numexpr\numexpr(\tabu@stoptime-\tabu@starttime)
+    -\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax*65536\relax
+    *1000/65536\relax ms \tabu@spaces(\the\tabu@cnt\space
+                                        cycle\ifnum\tabu@cnt>\@ne s\fi)^^J^^J}}
+\def\tabu@message@verticalsp {%
+    \ifdim \@tempdima>\tabu@ht
+        \ifdim \@tempdimb>\tabu@dp
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J%
+        \else
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@^^J%
+        \fi
+    \else\ifdim \@tempdimb>\tabu@dp
+        \tabu@spaces\tabu@spaces\tabu@spaces
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J\fi
+    \fi
+}% \tabu@message@verticalsp
+\edef\tabu@spaces{\@spaces}
+\def\tabu@strippt{\expandafter\tabu@pt\the}
+{\@makeother\P \@makeother\T\lowercase{\gdef\tabu@pt #1PT{#1}}}
+\def\tabu@msgalign{\expandafter\tabu@msg@align\the\dimexpr}
+\def\tabu@msgalign@PT{\expandafter\tabu@msg@align\romannumeral-`\0\tabu@strippt}
+\def\do #1{%
+    \def\tabu@msg@align##1.##2##3##4##5##6##7##8##9\@@{%
+    \ifnum##1<10 #1 #1\else
+    \ifnum##1<100 #1 \else
+    \ifnum##1<\@m #1\fi\fi\fi
+    ##1.##2##3##4##5##6##7##8#1}%
+    \def\tabu@header{(tabu) \ifnum\tabu@cnt<10 #1\fi\the\tabu@cnt) }%
+    \def\tabu@titles{\ifnum \tabu@nested=\z@
+      (tabu) Try#1 #1 tabu X #1 #1 #1tabu Width #1 #1 Target
+                  #1 #1 #1 Coefs #1 #1 #1 Update^^J\fi}%
+    \def\tabu@spreadheader{%
+      (tabu) Try#1 #1 Spread #1 #1 tabu Width #1 #1 #1 Nat. X #1 #1 #1 #1Nat. Min.
+                                                      #1 New Target^^J%
+      (tabu) sprd}
+    \def\tabu@message@save {\begingroup
+        \def\x ####1{\tabu@msg@align ####1{ }{ }{ }{ }{}\@@}
+        \def\z ####1{\expandafter\x\expandafter{\romannumeral-`\0\tabu@strippt
+                                                     \dimexpr####1\p@{ }{ }}}%
+        \let\color \relax \def\tabu@rulesstyle ####1####2{\detokenize{####1}}%
+        \let\CT@arc@ \relax \let\@preamble \@gobble
+        \let\tabu@savedpream  \@firstofone
+        \let\tabu@savedparams \@firstofone
+        \def\tabu@target ####1\relax   {(tabu) target #1 #1 #1 #1 #1 = \x{####1}^^J}%
+        \def\tabucolX ####1\relax      {(tabu) X columns width#1 = \x{####1}^^J}%
+        \def\tabu@nbcols ####1\relax   {(tabu) Number of columns: \z{####1}^^J}%
+        \def\tabu@aligndefault    ####1{(tabu) Default alignment: #1 #1 ####1^^J}%
+        \def\col@sep ####1\relax       {(tabu) column sep #1 #1 #1 = \x{####1}^^J}%
+        \def\arrayrulewidth ####1\relax{(tabu) arrayrulewidth #1 = \x{####1}}%
+        \def\doublerulesep ####1\relax { doublerulesep = \x{####1}^^J}%
+        \def\extratabsurround####1\relax{(tabu) extratabsurround = \x{####1}^^J}%
+        \def\extrarowheight ####1\relax{(tabu) extrarowheight #1 = \x{####1}}%
+        \def\extrarowdepth ####1\relax {extrarowdepth = \x{####1}^^J}%
+        \def\abovetabulinesep####1\relax{(tabu) abovetabulinesep=\x{####1} }%
+        \def\belowtabulinesep####1\relax{ belowtabulinesep=\x{####1}^^J}%
+        \def\arraystretch         ####1{(tabu) arraystretch #1 #1 = \z{####1}^^J}%
+        \def\minrowclearance####1\relax{(tabu) minrowclearance #1 = \x{####1}^^J}%
+        \def\tabu@arc@L           ####1{(tabu) taburulecolor #1 #1 = ####1^^J}%
+        \def\tabu@drsc@L          ####1{(tabu) tabudoublerulecolor=  ####1^^J}%
+        \def\tabu@evr@L           ####1{(tabu) everyrow #1 #1 #1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@ls@L            ####1{(tabu) line style = \detokenize{####1}^^J}%
+        \def\NC@find ####1\@nil{(tabu) tabu preamble#1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@wddef####1####2{(tabu) Natural width ####1 = \x{####2}^^J}%
+        \let\edef \@gobbletwo \let\def \@empty \let\let \@gobbletwo
+        \tabu@message{%
+         (tabu) \string\savetabu{\tabu@temp}: \on@line^^J%
+         \tabu@usetabu \@nil^^J}%
+        \endgroup}
+}\do{ }
+%% Measuring the natural width (varwidth) - store the results -------
+\def\tabu@startpboxmeasure #1{\bgroup   % entering \vtop
+    \edef\tabu@temp{\expandafter\@secondoftwo \ifx\tabu@hsize #1\else\relax\fi}%
+    \ifodd 1\ifx \tabu@temp\@empty 0 \else      % starts with \tabu@hsize ?
+            \iftabu@spread           \else      % if spread -> measure
+            \ifdim \tabu@temp\p@>\z@ 0 \fi\fi\fi% if coef>0 -> do not measure
+        \let\@startpbox \tabu@startpboxORI      % restore immediately (nesting)
+        \tabu@measuringtrue                     % for the quick option...
+        \tabu@Xcol =\expandafter\@firstoftwo\ifx\tabu@hsize #1\fi
+        \ifdim \tabu@temp\p@>\z@ \ifdim \tabu@temp\tabucolX<\tabu@target
+                                        \tabu@target=\tabu@temp\tabucolX \fi\fi
+        \setbox\tabu@box  \hbox \bgroup
+            \begin{varwidth}\tabu@target
+                \let\FV@ListProcessLine \tabu@FV@ListProcessLine  % \hbox to natural width...
+                \narrowragged \arraybackslash \parfillskip \@flushglue
+                \ifdefined\pdfadjustspacing \pdfadjustspacing\z@ \fi
+                \bgroup \aftergroup\tabu@endpboxmeasure
+                \ifdefined \cellspacetoplimit \tabu@cellspacepatch \fi
+    \else \expandafter\@gobble
+                            \tabu@startpboxquick{#1}% \@gobble \bgroup
+    \fi
+}% \tabu@startpboxmeasure
+\def\tabu@cellspacepatch{\def\bcolumn##1\@nil{}\let\ecolumn\@empty
+                                          \bgroup\color@begingroup}
+\def\tabu@endpboxmeasure {%
+    \@finalstrut \@arstrutbox
+                    \end{varwidth}\egroup    % <got my \tabu@box>
+    \ifdim \tabu@temp\p@ <\z@   % neg coef
+        \ifdim \tabu@wd\tabu@Xcol <\wd\tabu@box
+            \tabu@wddef\tabu@Xcol {\the\wd\tabu@box}%
+            \tabu@debug{\tabu@message@endpboxmeasure}%
+        \fi
+    \else                       % spread coef>0
+        \global\advance \tabu@naturalX \wd\tabu@box
+        \@tempdima =\dimexpr \wd\tabu@box *\p@/\dimexpr \tabu@temp\p@\relax \relax
+        \ifdim \tabu@naturalXmax <\tabu@naturalX
+            \xdef\tabu@naturalXmax {\the\tabu@naturalX}\fi
+        \ifdim \tabu@naturalXmin <\@tempdima
+            \xdef\tabu@naturalXmin {\the\@tempdima}\fi
+    \fi
+   \box\tabu@box \egroup % end of \vtop (measure) restore \tabu@target
+}% \tabu@endpboxmeasure
+\def\tabu@wddef #1{\expandafter\xdef
+                   \csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@wd    #1{\csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@message@endpboxmeasure{\tabu@spaces\tabu@spaces<-> % <-> save natural wd
+    \the\tabu@Xcol. X[\tabu@temp]:
+    target = \the\tabucolX \space
+    \expandafter\expandafter\expandafter\string\tabu@wd\tabu@Xcol
+    =\tabu@wd\tabu@Xcol
+}% \tabu@message@endpboxmeasure
+\def\tabu@startpboxquick {\bgroup
+    \let\@startpbox \tabu@startpboxORI  % restore immediately
+    \let\tabu \tabu@quick               % \begin is expanded before...
+    \expandafter\@gobble \@startpbox    % gobbles \bgroup
+}% \tabu@startpboxquick
+\def\tabu@quick {\begingroup \iffalse{\fi \ifnum0=`}\fi
+    \toks@{}\def\tabu@stack{b}\tabu@collectbody \tabu@endquick
+}% \tabu@quick
+\def\tabu@endquick {%
+    \ifodd 1\ifx\tabu@end@envir\tabu@endtabu  \else
+            \ifx\tabu@end@envir\tabu@endtabus \else 0\fi\fi\relax
+            \endgroup
+    \else   \let\endtabu \relax
+            \tabu@end@envir
+    \fi
+}% \tabu@quick
+\def\tabu@endtabu   {\end{tabu}}
+\def\tabu@endtabus  {\end{tabu*}}
+%% Measuring the heights and depths - store the results -------------
+\def\tabu@verticalmeasure{\everypar{}%
+    \ifnum \currentgrouptype>12         % 14=semi-simple, 15=math shift group
+        \setbox\tabu@box =\hbox\bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@lcr
+            \d@llarbegin                % after \hbox ...
+    \else
+        \edef\tabu@temp{\ifnum\currentgrouptype=5\vtop
+                        \else\ifnum\currentgrouptype=12\vcenter
+                        \else\vbox\fi\fi}%
+        \setbox\tabu@box \hbox\bgroup$\tabu@temp \bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@pmb
+    \fi
+}% \tabu@verticalmeasure
+\def\tabu@verticalsp@lcr{%
+    \d@llarend \egroup       % <got my \tabu@box>
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \noindent\vrule height\@tempdima depth\@tempdimb
+}% \tabu@verticalsp@lcr
+\def\tabu@verticalsp@pmb{% inserts struts as needed
+    \par \expandafter\egroup
+            \expandafter$\expandafter
+                    \egroup \expandafter
+                            \@tempdimc \the\prevdepth
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \let\@finalstrut \@gobble
+    \hrule height\@tempdima depth\@tempdimb width\hsize
+%%    \box\tabu@box
+}% \tabu@verticalsp@pmb
+
+\def\tabu@verticalinit{%
+    \ifnum \c@taburow=\z@ \tabu@rearstrut \fi       % after \tabu@reset !
+    \advance\c@taburow \@ne
+    \tabu@htdef{\the\ht\@arstrutbox}\tabu@dpdef{\the\dp\@arstrutbox}%
+    \advance\c@taburow \m@ne
+}% \tabu@verticalinit
+\def\tabu@htdef {\expandafter\xdef \csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@ht                      {\csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@dpdef {\expandafter\xdef \csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@dp                      {\csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@verticaldynamicadjustment {%
+    \advance\c@taburow \@ne
+        \extrarowheight \dimexpr\tabu@ht - \ht\strutbox
+        \extrarowdepth  \dimexpr\tabu@dp - \dp\strutbox
+        \let\arraystretch \@empty
+    \advance\c@taburow \m@ne
+}% \tabu@verticaldynamicadjustment
+\def\tabuphantomline{\crcr \noalign{%
+    {\globaldefs \@ne
+        \setbox\@arstrutbox     \box\voidb@x
+        \let\tabu@@celllalign   \tabu@celllalign
+        \let\tabu@@cellralign   \tabu@cellralign
+        \let\tabu@@cellleft     \tabu@cellleft
+        \let\tabu@@cellright    \tabu@cellright
+        \let\tabu@@thevline     \tabu@thevline
+        \let\tabu@celllalign    \@empty
+        \let\tabu@cellralign    \@empty
+        \let\tabu@cellright     \@empty
+        \let\tabu@cellleft      \@empty
+        \let\tabu@thevline      \relax}%
+    \edef\tabu@temp{\tabu@multispan \tabu@nbcols{\noindent &}}%
+    \toks@\expandafter{\tabu@temp \noindent\tabu@everyrowfalse \cr
+        \noalign{\tabu@rearstrut
+            {\globaldefs\@ne
+                \let\tabu@celllalign \tabu@@celllalign
+                \let\tabu@cellralign \tabu@@cellralign
+                \let\tabu@cellleft   \tabu@@cellleft
+                \let\tabu@cellright  \tabu@@cellright
+                \let\tabu@thevline   \tabu@@thevline}}}%
+    \expandafter}\the\toks@
+}% \tabuphantomline
+%% \firsthline and \lasthline corrections ---------------------------
+\def\tabu@firstline {\tabu@hlineAZ  \tabu@firsthlinecorrection     {}}
+\def\tabu@firsthline{\tabu@hlineAZ  \tabu@firsthlinecorrection \hline}
+\def\tabu@lastline  {\tabu@hlineAZ  \tabu@lasthlinecorrection      {}}
+\def\tabu@lasthline {\tabu@hlineAZ  \tabu@lasthlinecorrection  \hline}
+\def\tabu@hline {% replaces \hline if no colortbl (see \AtBeginDocument)
+    \noalign{\ifnum0=`}\fi
+    {\CT@arc@\hrule height\arrayrulewidth}%
+    \futurelet \tabu@temp \tabu@xhline
+}% \tabu@hline
+\def\tabu@xhline{%
+    \ifx \tabu@temp \hline
+        {\ifx \CT@drsc@\relax \vskip
+         \else\ifx \CT@drsc@\@empty \vskip
+         \else \CT@drsc@\hrule height
+         \fi\fi
+         \doublerulesep}%
+    \fi
+    \ifnum0=`{\fi}%
+}% \tabu@xhline
+\def\tabu@hlineAZ #1#2{\noalign{\ifnum0=`}\fi \dimen@ \z@ \count@ \z@
+    \toks@{}\def\tabu@hlinecorrection{#1}\def\tabu@temp{#2}%
+    \tabu@hlineAZsurround
+}% \tabu@hlineAZ
+\newcommand*\tabu@hlineAZsurround[1][\extratabsurround]{%
+    \extratabsurround #1\let\tabucline \tabucline@scan
+    \let\hline     \tabu@hlinescan \let\firsthline \hline
+    \let\cline     \tabu@clinescan \let\lasthline  \hline
+    \expandafter \futurelet \expandafter \tabu@temp
+                \expandafter \tabu@nexthlineAZ \tabu@temp
+}% \tabu@hlineAZsurround
+\def\tabu@hlinescan   {\tabu@thick \arrayrulewidth \tabu@xhlineAZ \hline}
+\def\tabu@clinescan #1{\tabu@thick \arrayrulewidth \tabu@xhlineAZ {\cline{#1}}}
+\def\tabucline@scan{\@testopt \tabucline@sc@n {}}
+\def\tabucline@sc@n #1[#2]{\tabu@xhlineAZ {\tabucline[{#1}]{#2}}}
+\def\tabu@nexthlineAZ{%
+    \ifx \tabu@temp\hline \else
+    \ifx \tabu@temp\cline \else
+    \ifx \tabu@temp\tabucline \else
+         \tabu@hlinecorrection
+    \fi\fi\fi
+}% \tabu@nexthlineAZ
+\def\tabu@xhlineAZ #1{%
+    \toks@\expandafter{\the\toks@ #1}%
+    \@tempdimc \tabu@thick                  % The last line width
+    \ifcase\count@ \@tempdimb \tabu@thick   % The first line width
+    \else \advance\dimen@ \dimexpr \tabu@thick+\doublerulesep \relax
+    \fi
+    \advance\count@ \@ne    \futurelet \tabu@temp \tabu@nexthlineAZ
+}% \tabu@xhlineAZ
+\def\tabu@firsthlinecorrection{% \count@ = number of \hline -1
+    \@tempdima \dimexpr \ht\@arstrutbox+\dimen@
+    \edef\firsthline{%      <local in \noalign>
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    height \the\dimexpr\@tempdima+\extratabsurround
+                    depth  \dp\@arstrutbox
+                    width  \tabustrutrule}\hss}\cr
+        \noalign{\vskip -\the\dimexpr   \@tempdima+\@tempdimb
+                                        +\dp\@arstrutbox \relax}%
+        \the\toks@
+   }\ifnum0=`{\fi
+            \expandafter}\firsthline % we are then !
+}% \tabu@firsthlinecorrection
+\def\tabu@lasthlinecorrection{%
+    \@tempdima \dimexpr  \dp\@arstrutbox+\dimen@+\@tempdimb+\@tempdimc
+    \edef\lasthline{%   <local in \noalign>
+        \the\toks@
+        \noalign{\vskip -\the\dimexpr\dimen@+\@tempdimb+\dp\@arstrutbox}%
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    depth \the\dimexpr \dp\@arstrutbox+\@tempdimb+\dimen@
+                                       +\extratabsurround-\@tempdimc
+                    height \z@
+                    width \tabustrutrule}\hss}\cr
+    }\ifnum0=`{\fi
+            \expandafter}\lasthline % we are then !
+}% \tabu@lasthlinecorrection
+\def\tabu@LT@@hline{%
+    \ifx\LT@next\hline
+        \global\let\LT@next \@gobble
+        \ifx \CT@drsc@\relax
+            \gdef\CT@LT@sep{%
+                \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
+        \else
+            \gdef\CT@LT@sep{%
+                \multispan\LT@cols{%
+                \CT@drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
+        \fi
+    \else
+        \global\let\LT@next\empty
+        \gdef\CT@LT@sep{%
+            \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
+    \fi
+    \ifnum0=`{\fi}%
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \CT@LT@sep
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \noalign{\penalty\@M}%
+    \LT@next
+}% \tabu@LT@@hline
+%% Horizontal lines : \tabucline ------------------------------------
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcommand*\tabucline{\noalign{\ifnum0=`}\fi \tabu@cline}
+\newcommand*\tabu@cline[2][]{\tabu@startstop{#2}%
+   \ifnum \tabu@stop<\z@   \toks@{}%
+   \else \tabu@clinearg{#1}\tabu@thestyle
+        \edef\tabucline{\toks@{%
+            \ifnum \tabu@start>\z@ \omit
+                  \tabu@multispan\tabu@start {\span\omit}&\fi
+            \omit \tabu@multispan\tabu@stop {\span\omit}%
+                                        \tabu@thehline\cr
+        }}\tabucline
+        \tabu@tracinglines{(tabu:tabucline) Style: #1^^J\the\toks@^^J^^J}%
+    \fi
+    \futurelet \tabu@temp \tabu@xcline
+}% \tabu@cline
+\def\tabu@clinearg #1{%
+    \ifx\\#1\\\let\tabu@thestyle \tabu@ls@
+    \else \@defaultunits \expandafter\let\expandafter\@tempa
+                                    \romannumeral-`\0#1\relax \@nnil
+        \ifx \hbox\@tempa           \tabu@clinebox{#1}%
+        \else\ifx \box\@tempa       \tabu@clinebox{#1}%
+        \else\ifx \vbox\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \vtop\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \copy\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \leaders\@tempa   \tabu@clineleads{#1}%
+        \else\ifx \cleaders\@tempa  \tabu@clineleads{#1}%
+        \else\ifx \xleaders\@tempa  \tabu@clineleads{#1}%
+        \else\tabu@getline {#1}%
+        \fi\fi\fi\fi\fi\fi\fi\fi
+    \fi
+}% \tabu@clinearg
+\def\tabu@clinebox #1{\tabu@clineleads{\xleaders#1\hss}}
+\def\tabu@clineleads #1{%
+    \let\tabu@thestyle \relax \let\tabu@leaders \@undefined
+    \gdef\tabu@thehrule{#1}}
+\def\tabu@thehline{\begingroup
+    \ifdefined\tabu@leaders
+            \noexpand\tabu@thehleaders
+    \else   \noexpand\tabu@thehrule
+    \fi            \endgroup
+}% \tabu@thehline
+\def\tabu@xcline{%
+    \ifx \tabu@temp\tabucline
+        \toks@\expandafter{\the\toks@ \noalign
+        {\ifx\CT@drsc@\relax \vskip
+         \else \CT@drsc@\hrule height
+         \fi
+         \doublerulesep}}%
+    \fi
+    \tabu@docline
+}% \tabu@xcline
+\def\tabu@docline {\ifnum0=`{\fi \expandafter}\the\toks@}
+\def\tabu@docline@evr {\xdef\tabu@doclineafter{\the\toks@}%
+              \ifnum0=`{\fi}\aftergroup\tabu@doclineafter}
+\def\tabu@multispan #1#2{%
+    \ifnum\numexpr#1>\@ne #2\expandafter\tabu@multispan
+    \else                   \expandafter\@gobbletwo
+    \fi  {#1-1}{#2}%
+}% \tabu@multispan
+\def\tabu@startstop #1{\tabu@start@stop #1\relax 1-\tabu@nbcols \@nnil}
+\def\tabu@start@stop #1-#2\@nnil{%
+   \@defaultunits   \tabu@start\number 0#1\relax    \@nnil
+   \@defaultunits   \tabu@stop \number 0#2\relax    \@nnil
+   \tabu@stop   \ifnum \tabu@start>\tabu@nbcols     \m@ne
+                \else\ifnum \tabu@stop=\z@          \tabu@nbcols
+                \else\ifnum \tabu@stop>\tabu@nbcols \tabu@nbcols
+                \else                               \tabu@stop
+                \fi\fi\fi
+   \advance\tabu@start \m@ne
+   \ifnum \tabu@start>\z@ \advance\tabu@stop -\tabu@start \fi
+}% \tabu@start@stop
+%% Numbers: siunitx S columns  (and \tabudecimal) -------------------
+\def\tabu@tabudecimal #1{%
+    \def\tabu@decimal{#1}\@temptokena{}%
+    \let\tabu@getdecimal@ \tabu@getdecimal@ignorespaces
+    \tabu@scandecimal
+}% \tabu@tabudecimal
+\def\tabu@scandecimal{\futurelet \tabu@temp \tabu@getdecimal@}
+\def\tabu@skipdecimal#1{#1\tabu@scandecimal}
+\def\tabu@getdecimal@ignorespaces{%
+    \ifcase 0\ifx\tabu@temp\ignorespaces\else
+             \ifx\tabu@temp\@sptoken1\else
+             2\fi\fi\relax
+            \let\tabu@getdecimal@ \tabu@getdecimal
+            \expandafter\tabu@skipdecimal
+    \or     \expandafter\tabu@gobblespace\expandafter\tabu@scandecimal
+    \else   \expandafter\tabu@skipdecimal
+    \fi
+}% \tabu@getdecimal@ignorespaces
+\def\tabu@get@decimal#1{\@temptokena\expandafter{\the\@temptokena #1}%
+                        \tabu@scandecimal}
+\def\do#1{%
+    \def\tabu@get@decimalspace#1{%
+        \@temptokena\expandafter{\the\@temptokena #1}\tabu@scandecimal}%
+}\do{ }
+\let\tabu@@tabudecimal \tabu@tabudecimal
+\def\tabu@getdecimal{%
+   \ifcase    0\ifx 0\tabu@temp\else
+               \ifx 1\tabu@temp\else
+               \ifx 2\tabu@temp\else
+               \ifx 3\tabu@temp\else
+               \ifx 4\tabu@temp\else
+               \ifx 5\tabu@temp\else
+               \ifx 6\tabu@temp\else
+               \ifx 7\tabu@temp\else
+               \ifx 8\tabu@temp\else
+               \ifx 9\tabu@temp\else
+               \ifx .\tabu@temp\else
+               \ifx ,\tabu@temp\else
+               \ifx -\tabu@temp\else
+               \ifx +\tabu@temp\else
+               \ifx e\tabu@temp\else
+               \ifx E\tabu@temp\else
+               \ifx\tabu@cellleft\tabu@temp1\else
+               \ifx\ignorespaces\tabu@temp1\else
+               \ifx\@sptoken\tabu@temp2\else
+            3\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+       \expandafter\tabu@get@decimal
+   \or \expandafter\tabu@skipdecimal
+   \or \expandafter\tabu@get@decimalspace
+   \else\expandafter\tabu@printdecimal
+   \fi
+}% \tabu@getdecimal
+\def\tabu@printdecimal{%
+    \edef\tabu@temp{\the\@temptokena}%
+    \ifx\tabu@temp\@empty\else
+    \ifx\tabu@temp\space\else
+        \expandafter\tabu@decimal\expandafter{\the\@temptokena}%
+    \fi\fi
+}% \tabu@printdecimal
+%% Verbatim inside X columns ----------------------------------------
+\def\tabu@verbatim{%
+    \let\verb \tabu@verb
+    \let\FV@DefineCheckEnd \tabu@FV@DefineCheckEnd
+}% \tabu@verbatim
+\let\tabu@ltx@verb \verb
+\def\tabu@verb{\@ifstar {\tabu@ltx@verb*} \tabu@ltx@verb}
+\def\tabu@fancyvrb {%
+    \def\tabu@FV@DefineCheckEnd ##1{%
+        \def\tabu@FV@DefineCheckEnd{%
+            ##1% <original definition (if fancyvrb is loaded)>
+            \let\FV@CheckEnd     \tabu@FV@CheckEnd
+            \let\FV@@CheckEnd    \tabu@FV@@CheckEnd
+            \let\FV@@@CheckEnd   \tabu@FV@@@CheckEnd
+            \edef\FV@EndScanning{%
+            \def\noexpand\next{\noexpand\end{\FV@EnvironName}}%
+                \global\let\noexpand\FV@EnvironName\relax
+                \noexpand\next}%
+            \xdef\FV@EnvironName{\detokenize\expandafter{\FV@EnvironName}}}%
+    }\expandafter\tabu@FV@DefineCheckEnd\expandafter{\FV@DefineCheckEnd}
+}% \tabu@fancyvrb
+\def\tabu@FV@CheckEnd  #1{\expandafter\FV@@CheckEnd \detokenize{#1\end{}}\@nil}
+\edef\tabu@FV@@@CheckEnd {\detokenize{\end{}}}
+\begingroup
+\catcode`\[1      \catcode`\]2
+\@makeother\{     \@makeother\}
+   \edef\x[\endgroup
+      \def\noexpand\tabu@FV@@CheckEnd ##1\detokenize[\end{]##2\detokenize[}]##3%
+   ]\x               \@nil{\def\@tempa{#2}\def\@tempb{#3}}
+\def\tabu@FV@ListProcessLine #1{%
+  \hbox {%to \hsize{%
+    \kern\leftmargin
+    \hbox {%to \linewidth{%
+      \FV@LeftListNumber
+      \FV@LeftListFrame
+      \FancyVerbFormatLine{#1}\hss
+%% DG/SR modification begin - Jan. 28, 1998 (for numbers=right add-on)
+%%      \FV@RightListFrame}%
+      \FV@RightListFrame
+      \FV@RightListNumber}%
+%% DG/SR modification end
+    \hss}}
+%% \savetabu --------------------------------------------------------
+\newcommand*\savetabu[1]{\noalign{%
+    \tabu@sanitizearg{#1}\tabu@temp
+    \ifx \tabu@temp\@empty  \tabu@savewarn{}{The tabu will not be saved}\else
+        \@ifundefined{tabu@saved@\tabu@temp}{}{\tabu@savewarn{#1}{Overwritting}}%
+        \ifdefined\tabu@restored \expandafter\let
+            \csname tabu@saved@\tabu@temp \endcsname \tabu@restored
+        \else {\tabu@save}%
+        \fi
+    \fi}%
+}% \savetabu
+\def\tabu@save {%
+    \toks0\expandafter{\tabu@saved@}%
+    \iftabu@negcoef
+        \let\tabu@wddef \relax \let\tabu@ \tabu@savewd \edef\tabu@savewd{\tabu@Xcoefs}%
+        \toks0\expandafter{\the\toks\expandafter0\tabu@savewd}\fi
+    \toks1\expandafter{\tabu@savedpream}%
+    \toks2\expandafter{\tabu@savedpreamble}%
+    \let\@preamble \relax
+    \let\tabu@savedpream \relax \let\tabu@savedparams \relax
+    \edef\tabu@preamble{%
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \edef\tabu@usetabu{%
+        \def\@preamble {\noexpand\the\toks2}%
+        \tabu@target \the\tabu@target \relax
+        \tabucolX    \the\tabucolX    \relax
+        \tabu@nbcols \the\tabu@nbcols \relax
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \let\tabu@aligndefault \relax \let\@sharp \relax
+    \edef\@tempa{\noexpand\tabu@s@ved
+                          {\tabu@usetabu}
+                         {\tabu@preamble}
+                            {\the\toks1}}\@tempa
+    \tabu@message@save
+}% \tabu@save
+\long\def\tabu@s@ved #1#2#3{%
+    \def\tabu@usetabu{#1}% <for \tabu@message@save>
+    \expandafter\gdef\csname tabu@saved@\tabu@temp\endcsname ##1{%
+        \ifodd ##1%     \usetabu
+            \tabu@measuringfalse \tabu@spreadfalse  % Just in case...
+            \gdef\tabu@usetabu {%
+                \ifdim \tabu@target>\z@ \tabu@warn@usetabu \fi
+                \global\let\tabu@usetabu \@undefined
+                \def\@halignto {to\tabu@target}%
+                #1%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \else     %     \preamble
+            \gdef\tabu@preamble {%
+                \global\let\tabu@preamble \@undefined
+                #2%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \fi
+        #3}%
+}% \tabu@s@ved
+\def\tabu@aligndefault@text {\tabu@aligndefault}%
+\def\tabu@warn@usetabu {\PackageWarning{tabu}
+    {Specifying a target with \string\usetabu\space is useless
+    \MessageBreak The target cannot be changed!}}
+\def\tabu@savewd #1#2{\ifdim #2\p@<\z@ \tabu@wddef{#1}{\tabu@wd{#1}}\fi}
+\def\tabu@savewarn#1#2{\PackageInfo{tabu}
+    {User-name `#1' already used for \string\savetabu
+    \MessageBreak #2}}%
+\def\tabu@saveerr#1{\PackageError{tabu}
+    {User-name `#1' is unknown for \string\usetabu
+    \MessageBreak I cannot restore an unknown preamble!}\@ehd}
+%% \rowfont ---------------------------------------------------------
+\newskip \tabu@cellskip
+\def\tabu@rowfont{\ifdim \baselineskip=\z@\noalign\fi
+                    {\ifnum0=`}\fi    \tabu@row@font}
+\newcommand*\tabu@row@font[2][]{%
+    \ifnum7=\currentgrouptype
+        \global\let\tabu@@cellleft    \tabu@cellleft
+        \global\let\tabu@@cellright   \tabu@cellright
+        \global\let\tabu@@celllalign  \tabu@celllalign
+        \global\let\tabu@@cellralign  \tabu@cellralign
+        \global\let\tabu@@rowfontreset\tabu@rowfontreset
+    \fi
+    \global\let\tabu@rowfontreset \tabu@rowfont@reset
+    \expandafter\gdef\expandafter\tabu@cellleft\expandafter{\tabu@cellleft #2}%
+    \ifcsname tabu@cell@#1\endcsname       % row alignment
+            \csname tabu@cell@#1\endcsname \fi
+    \ifnum0=`{\fi}% end of group / noalign group
+}% \rowfont
+\def\tabu@ifcolorleavevmode #1{\let\color \tabu@leavevmodecolor #1\let\color\tabu@color}%
+\def\tabu@rowfont@reset{%
+    \global\let\tabu@rowfontreset \tabu@@rowfontreset
+    \global\let\tabu@cellleft     \tabu@@cellleft
+    \global\let\tabu@cellright    \tabu@@cellright
+    \global\let\tabu@cellfont     \@empty
+    \global\let\tabu@celllalign   \tabu@@celllalign
+    \global\let\tabu@cellralign   \tabu@@cellralign
+}% \tabu@@rowfontreset
+\let\tabu@rowfontreset \@empty     % overwritten \AtBeginDocument if colortbl
+%% \tabu@prepnext@tok -----------------------------------------------
+\newif \iftabu@cellright
+\def\tabu@prepnext@tok{%
+    \ifnum \count@<\z@   % <first initialisation>
+            \@tempcnta  \@M   % <not initialized by array.sty>
+            \tabu@nbcols\z@
+            \let\tabu@fornoopORI \@fornoop
+            \tabu@cellrightfalse
+    \else
+        \ifcase \numexpr \count@-\@tempcnta \relax % (case 0): prev. token is left
+                \advance \tabu@nbcols \@ne
+                \iftabu@cellright % before-previous token is right and is finished
+                    \tabu@cellrightfalse % <only once>
+                    \tabu@righttok
+                \fi
+                \tabu@lefttok
+        \or                     % (case 1) previous token is right
+                \tabu@cellrighttrue \let\@fornoop \tabu@lastnoop
+        \else % special column: do not change the token
+                \iftabu@cellright    % before-previous token is right
+                    \tabu@cellrightfalse
+                    \tabu@righttok
+                \fi
+        \fi % \ifcase
+    \fi
+    \tabu@prepnext@tokORI
+}% \tabu@prepnext@tok
+\long\def\tabu@lastnoop#1\@@#2#3{\tabu@lastn@@p #2\@nextchar \in@\in@@}
+\def\tabu@lastn@@p #1\@nextchar #2#3\in@@{%
+    \ifx \in@#2\else
+        \let\@fornoop \tabu@fornoopORI
+        \xdef\tabu@mkpreambuffer{\tabu@nbcols\the\tabu@nbcols \tabu@mkpreambuffer}%
+        \toks0\expandafter{\expandafter\tabu@everyrowtrue \the\toks0}%
+        \expandafter\prepnext@tok
+    \fi
+}% \tabu@lastnoop
+\def\tabu@righttok{%
+    \advance \count@ \m@ne
+    \toks\count@\expandafter {\the\toks\count@ \tabu@cellright \tabu@cellralign}%
+    \advance \count@ \@ne
+}% \tabu@righttok
+\def\tabu@lefttok{\toks\count@\expandafter{\expandafter\tabu@celllalign
+                                    \the\toks\count@ \tabu@cellleft}% after because of $
+}% \tabu@lefttok
+%% Neutralisation of glues ------------------------------------------
+\let\tabu@cellleft   \@empty
+\let\tabu@cellright  \@empty
+\tabu@celllalign@def{\tabu@cellleft}%
+\let\tabu@cellralign \@empty
+\def\tabu@cell@align #1#2#3{%
+    \let\tabu@maybesiunitx \toks@ \tabu@celllalign
+    \global \expandafter \tabu@celllalign@def \expandafter {\the\toks@ #1}%
+    \toks@\expandafter{\tabu@cellralign #2}%
+    \xdef\tabu@cellralign{\the\toks@}%
+    \toks@\expandafter{\tabu@cellleft #3}%
+    \xdef\tabu@cellleft{\the\toks@}%
+}% \tabu@cell@align
+\def\tabu@cell@l{% force alignment to left
+   \tabu@cell@align
+      {\tabu@removehfil \raggedright \tabu@cellleft}% left
+      {\tabu@flush1\tabu@ignorehfil}%                 right
+      \raggedright
+}% \tabu@cell@l
+\def\tabu@cell@c{% force alignment to center
+   \tabu@cell@align
+      {\tabu@removehfil \centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \centering
+}% \tabu@cell@c
+\def\tabu@cell@r{% force alignment to right
+   \tabu@cell@align
+      {\tabu@removehfil \raggedleft \tabu@flush1\tabu@cellleft}
+      \tabu@ignorehfil
+      \raggedleft
+}% \tabu@cell@r
+\def\tabu@cell@j{% force justification (for p, m, b columns)
+      \tabu@cell@align
+         {\tabu@justify\tabu@cellleft}
+         {}
+         \tabu@justify
+}% \tabu@cell@j
+\def\tabu@justify{%
+   \leftskip\z@skip \@rightskip\leftskip \rightskip\@rightskip
+   \parfillskip\@flushglue
+}% \tabu@justify
+%% ragged2e settings
+\def\tabu@cell@L{% force alignment to left (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedRight \tabu@cellleft}
+      {\tabu@flush 1\tabu@ignorehfil}
+      \RaggedRight
+}% \tabu@cell@L
+\def\tabu@cell@C{% force alignment to center (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \Centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \Centering
+}% \tabu@cell@C
+\def\tabu@cell@R{% force alignment to right (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedLeft \tabu@flush 1\tabu@cellleft}
+      \tabu@ignorehfil
+      \RaggedLeft
+}% \tabu@cell@R
+\def\tabu@cell@J{% force justification (ragged2e)
+   \tabu@cell@align
+      {\justifying \tabu@cellleft}
+      {}
+      \justifying
+}% \tabu@cell@J
+\def\tabu@flush#1{%
+    \iftabu@colortbl      % colortbl uses \hfill rather than \hfil
+        \hskip \ifnum13<\currentgrouptype \stretch{#1}%
+        \else  \ifdim#1pt<\p@ \tabu@cellskip
+        \else  \stretch{#1}
+        \fi\fi \relax
+    \else                % array.sty
+        \ifnum 13<\currentgrouptype
+                \hfil \hskip1sp \relax  \fi
+    \fi
+}% \tabu@flush
+\let\tabu@hfil  \hfil
+\let\tabu@hfill \hfill
+\let\tabu@hskip \hskip
+\def\tabu@removehfil{%
+    \iftabu@colortbl
+        \unkern \tabu@cellskip =\lastskip
+        \ifnum\gluestretchorder\tabu@cellskip =\tw@ \hskip-\tabu@cellskip
+        \else \tabu@cellskip \z@skip
+        \fi
+    \else
+        \ifdim\lastskip=1sp\unskip\fi
+        \ifnum\gluestretchorder\lastskip =\@ne
+            \hfilneg % \hfilneg for array.sty but not for colortbl...
+        \fi
+    \fi
+}% \tabu@removehfil
+\def\tabu@ignorehfil{\aftergroup \tabu@nohfil}
+\def\tabu@nohfil{% \hfil -> do nothing + restore original \hfil
+   \def\hfil{\let\hfil \tabu@hfil}%   local to (alignment template) group
+}% \tabu@nohfil
+\def\tabu@colortblalignments {% if colortbl
+    \def\tabu@nohfil{%
+        \def\hfil  {\let\hfil \tabu@hfil}% local to (alignment template) group
+        \def\hfill {\let\hfill \tabu@hfill}% (colortbl uses \hfill) pfff...
+        \def\hskip ####1\relax{\let\hskip \tabu@hskip}}% local
+}% \tabu@colortblalignments
+%% Taking care of footnotes and hyperfootnotes ----------------------
+\long\def\tabu@footnotetext #1{%
+   \edef\@tempa{\the\tabu@footnotes
+      \noexpand\footnotetext [\the\csname c@\@mpfn\endcsname]}%
+   \global\tabu@footnotes\expandafter{\@tempa {#1}}}%
+\long\def\tabu@xfootnotetext [#1]#2{%
+   \global\tabu@footnotes\expandafter{\the\tabu@footnotes
+                               \footnotetext [{#1}]{#2}}}
+\let\tabu@xfootnote \@xfootnote
+\long\def\tabu@Hy@ftntext{\tabu@Hy@ftntxt {\the \c@footnote }}
+\long\def\tabu@Hy@xfootnote [#1]{%
+   \begingroup
+      \value\@mpfn #1\relax
+      \protected@xdef \@thefnmark  {\thempfn}%
+   \endgroup
+   \@footnotemark \tabu@Hy@ftntxt {#1}%
+}% \tabu@Hy@xfootnote
+\long\def\tabu@Hy@ftntxt #1#2{%
+    \edef\@tempa{%
+        \the\tabu@footnotes
+        \begingroup
+            \value\@mpfn #1\relax
+            \noexpand\protected@xdef\noexpand\@thefnmark {\noexpand\thempfn}%
+            \expandafter \noexpand \expandafter
+                \tabu@Hy@footnotetext \expandafter{\Hy@footnote@currentHref}%
+    }%
+    \global\tabu@footnotes\expandafter{\@tempa {#2}%
+                                         \endgroup}%
+}% \tabu@Hy@ftntxt
+\long\def\tabu@Hy@footnotetext #1#2{%
+    \H@@footnotetext{%
+        \ifHy@nesting
+            \hyper@@anchor {#1}{#2}%
+        \else
+            \Hy@raisedlink{%
+                \hyper@@anchor {#1}{\relax}%
+            }%
+            \def\@currentHref {#1}%
+            \let\@currentlabelname \@empty
+            #2%
+        \fi
+    }%
+}% \tabu@Hy@footnotetext
+%% No need for \arraybackslash ! ------------------------------------
+\def\tabu@latextwoe {%
+\def\tabu@temp##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@centering   \centering   \arraybackslash
+\tabu@temp \tabu@raggedleft  \raggedleft  \arraybackslash
+\tabu@temp \tabu@raggedright \raggedright \arraybackslash
+}% \tabu@latextwoe
+\def\tabu@raggedtwoe {%
+\def\tabu@temp ##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@Centering   \Centering   \arraybackslash
+\tabu@temp \tabu@RaggedLeft  \RaggedLeft  \arraybackslash
+\tabu@temp \tabu@RaggedRight \RaggedRight \arraybackslash
+\tabu@temp \tabu@justifying  \justifying  \arraybackslash
+}% \tabu@raggedtwoe
+\def\tabu@normalcrbackslash{\let\\\@normalcr}
+\def\tabu@trivlist{\expandafter\def\expandafter\@trivlist\expandafter{%
+                       \expandafter\tabu@normalcrbackslash \@trivlist}}
+%% Utilities: \fbox  \fcolorbox  and \tabudecimal -------------------
+\def\tabu@fbox      {\leavevmode\afterassignment\tabu@beginfbox \setbox\@tempboxa\hbox}
+\def\tabu@beginfbox {\bgroup \kern\fboxsep
+                     \bgroup\aftergroup\tabu@endfbox}
+\def\tabu@endfbox   {\kern\fboxsep\egroup\egroup
+                     \@frameb@x\relax}
+\def\tabu@color@b@x #1#2{\leavevmode \bgroup
+    \def\tabu@docolor@b@x{#1{#2\color@block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}%
+    \afterassignment\tabu@begincolor@b@x \setbox\z@ \hbox
+}% \tabu@color@b@x
+\def\tabu@begincolor@b@x {\kern\fboxsep \bgroup
+       \aftergroup\tabu@endcolor@b@x \set@color}
+\def\tabu@endcolor@b@x {\kern\fboxsep \egroup
+    \dimen@\ht\z@ \advance\dimen@ \fboxsep \ht\z@ \dimen@
+    \dimen@\dp\z@ \advance\dimen@ \fboxsep \dp\z@ \dimen@
+    \tabu@docolor@b@x \egroup
+}% \tabu@endcolor@b@x
+%% Corrections (arydshln, delarray, colortbl) -----------------------
+\def\tabu@fix@arrayright {%% \@arrayright is missing from \endarray
+    \iftabu@colortbl
+        \ifdefined\adl@array  % <colortbl + arydshln>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \CT@end \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+        \else                 % <colortbl / no arydshln>
+        \def\tabu@endarray{%
+            \crcr \egroup \egroup    %<original>
+            \@arrayright             % <FC>
+            \gdef\@preamble{}\CT@end}%
+        \fi
+    \else
+        \ifdefined\adl@array  % <arydshln / no colortbl>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+    \else                   % <no arydshln / no colotbl + \@arrayright missing>
+        \PackageWarning{tabu}
+        {\string\@arrayright\space is missing from the
+        \MessageBreak definition of \string\endarray.
+        \MessageBreak Comptability with delarray.sty is broken.}%
+    \fi\fi
+}% \tabu@fix@arrayright
+\def\tabu@adl@xarraydashrule #1#2#3{%
+     \ifnum\@lastchclass=\adl@class@start\else
+     \ifnum\@lastchclass=\@ne\else
+     \ifnum\@lastchclass=5 \else % <FC> @-arg (class 5) and !-arg (class 1)
+             \adl@leftrulefalse \fi\fi           % must be treated the same
+     \fi
+     \ifadl@zwvrule\else \ifadl@inactive\else
+             \@addtopreamble{\vrule\@width\arrayrulewidth
+                     \@height\z@ \@depth\z@}\fi \fi
+     \ifadl@leftrule
+             \@addtopreamble{\adl@vlineL{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#1}#3}%
+     \else   \@addtopreamble{\adl@vlineR{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#2}#3}
+     \fi
+}% \tabu@adl@xarraydashrule
+\def\tabu@adl@act@endpbox {%
+    \unskip \ifhmode \nobreak \fi    \@finalstrut \@arstrutbox
+    \egroup \egroup
+    \adl@colhtdp \box\adl@box \hfil
+}% \tabu@adl@act@endpbox
+\def\tabu@adl@fix {%
+    \let\adl@xarraydashrule \tabu@adl@xarraydashrule % <fix> arydshln
+    \let\adl@act@endpbox    \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\adl@act@@endpbox   \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\@preamerror        \@preamerr               % <fix> arydshln
+}% \tabu@adl@fix
+%% Correction for longtable' \@startbox definition ------------------
+%%    => \everypar is ``missing'' : TeX should be in vertical mode
+\def\tabu@LT@startpbox #1{%
+    \bgroup
+        \let\@footnotetext\LT@p@ftntext
+        \setlength\hsize{#1}%
+        \@arrayparboxrestore
+        \everypar{%
+            \vrule \@height \ht\@arstrutbox \@width \z@
+            \everypar{}}%
+}% \tabu@LT@startpbox
+%% \tracingtabu  and  the package options ------------------
+\DeclareOption{delarray}{\AtEndOfPackage{\RequirePackage{delarray}}}
+\DeclareOption{linegoal}{%
+   \AtEndOfPackage{%
+      \RequirePackage{linegoal}[2010/12/07]%
+      \let\tabudefaulttarget \linegoal% \linegoal is \linewidth if not pdfTeX
+}}
+\DeclareOption{scantokens}{\tabuscantokenstrue}
+\DeclareOption{debugshow}{\AtEndOfPackage{\tracingtabu=\tw@}}
+\def\tracingtabu {\begingroup\@ifnextchar=%
+    {\afterassignment\tabu@tracing\count@}
+    {\afterassignment\tabu@tracing\count@1\relax}}
+\def\tabu@tracing{\expandafter\endgroup
+    \expandafter\tabu@tr@cing \the\count@ \relax
+}% \tabu@tracing
+\def\tabu@tr@cing #1\relax {%
+    \ifnum#1>\thr@@ \let\tabu@tracinglines\message
+    \else           \let\tabu@tracinglines\@gobble
+    \fi
+    \ifnum#1>\tw@   \let\tabu@DBG        \tabu@@DBG
+                    \def\tabu@mkarstrut {\tabu@DBG@arstrut}%
+                    \tabustrutrule      1.5\p@
+    \else           \let\tabu@DBG        \@gobble
+                    \def\tabu@mkarstrut {\tabu@arstrut}%
+                    \tabustrutrule      \z@
+    \fi
+    \ifnum#1>\@ne   \let\tabu@debug      \message
+    \else           \let\tabu@debug      \@gobble
+    \fi
+    \ifnum#1>\z@
+        \let\tabu@message             \message
+        \let\tabu@tracing@save        \tabu@message@save
+        \let\tabu@starttimer          \tabu@pdftimer
+    \else
+        \let\tabu@message             \@gobble
+        \let\tabu@tracing@save        \@gobble
+        \let\tabu@starttimer          \relax
+    \fi
+}% \tabu@tr@cing
+%% Setup \AtBeginDocument
+\AtBeginDocument{\tabu@AtBeginDocument}
+\def\tabu@AtBeginDocument{\let\tabu@AtBeginDocument \@undefined
+    \ifdefined\arrayrulecolor   \tabu@colortbltrue       % <colortbl>
+                                \tabu@colortblalignments % different glues are used
+    \else                       \tabu@colortblfalse \fi
+    \ifdefined\CT@arc@ \else \let\CT@arc@  \relax \fi
+    \ifdefined\CT@drsc@\else \let\CT@drsc@ \relax \fi
+    \let\tabu@arc@L \CT@arc@ \let\tabu@drsc@L \CT@drsc@
+    \ifodd 1\ifcsname siunitx_table_collect_begin:Nn\endcsname   % <siunitx: ok>
+            \expandafter\ifx
+                \csname siunitx_table_collect_begin:Nn\endcsname\relax 0\fi\fi\relax
+            \tabu@siunitxtrue
+    \else   \let\tabu@maybesiunitx   \@firstofone                % <not siunitx: setup>
+            \let\tabu@siunitx        \tabu@nosiunitx
+            \tabu@siunitxfalse
+    \fi
+    \ifdefined\adl@array        % <arydshln>
+    \else     \let\tabu@adl@fix \relax
+              \let\tabu@adl@endtrial \@empty \fi
+    \ifdefined\longtable        % <longtable>
+    \else     \let\longtabu \tabu@nolongtabu \fi
+    \ifdefined\cellspacetoplimit \tabu@warn@cellspace\fi
+    \csname\ifcsname ifHy@hyperfootnotes\endcsname % <hyperfootnotes>
+            ifHy@hyperfootnotes\else iffalse\fi\endcsname
+        \let\tabu@footnotetext \tabu@Hy@ftntext
+        \let\tabu@xfootnote    \tabu@Hy@xfootnote \fi
+    \ifdefined\FV@DefineCheckEnd% <fancyvrb>
+            \tabu@fancyvrb  \fi
+    \ifdefined\color            % <color / xcolor>
+        \let\tabu@color \color
+        \def\tabu@leavevmodecolor ##1{%
+            \def\tabu@leavevmodecolor {\leavevmode ##1}%
+        }\expandafter\tabu@leavevmodecolor\expandafter{\color}%
+    \else
+        \let\tabu@color           \tabu@nocolor
+        \let\tabu@leavevmodecolor \@firstofone \fi
+    \tabu@latextwoe
+    \ifdefined\@raggedtwoe@everyselectfont    % <ragged2e>
+        \tabu@raggedtwoe
+    \else
+        \let\tabu@cell@L \tabu@cell@l
+        \let\tabu@cell@R \tabu@cell@r
+        \let\tabu@cell@C \tabu@cell@c
+        \let\tabu@cell@J \tabu@cell@j   \fi
+    \expandafter\in@ \expandafter\@arrayright \expandafter{\endarray}%
+    \ifin@ \let\tabu@endarray \endarray
+    \else  \tabu@fix@arrayright \fi% <fix for colortbl & arydshln (delarray)>
+    \everyrow{}%
+}% \tabu@AtBeginDocument
+\def\tabu@warn@cellspace{%
+    \PackageWarning{tabu}{%
+                  Package cellspace has some limitations
+    \MessageBreak And redefines some macros of array.sty.
+    \MessageBreak Please use \string\tabulinesep\space to control
+    \MessageBreak vertical spacing of lines inside tabu environnement}%
+}% \tabu@warn@cellspace
+%% tabu Package initialisation
+\tabuscantokensfalse
+\let\tabu@arc@G         \relax
+\let\tabu@drsc@G        \relax
+\let\tabu@evr@G         \@empty
+\let\tabu@rc@G          \@empty
+\def\tabu@ls@G          {\tabu@linestyle@}%
+\let\tabu@@rowfontreset \@empty % <init>
+\let\tabu@@celllalign   \@empty
+\let\tabu@@cellralign   \@empty
+\let\tabu@@cellleft     \@empty
+\let\tabu@@cellright    \@empty
+\def\tabu@naturalXmin   {\z@}
+\def\tabu@naturalXmax   {\z@}
+\let\tabu@rowfontreset  \@empty
+\def\tabulineon {4pt}\let\tabulineoff \tabulineon
+\tabu@everyrowtrue
+\ifdefined\pdfelapsedtime                   % <pdfTeX>
+        \def\tabu@pdftimer {\xdef\tabu@starttime{\the\pdfelapsedtime}}%
+\else   \let\tabu@pdftimer \relax \let\tabu@message@etime \relax
+\fi
+\tracingtabu=\z@
+\newtabulinestyle {=\maxdimen}% creates the 'factory' settings \tabu@linestyle@
+\tabulinestyle{}
+\taburowcolors{}
+\let\tabudefaulttarget  \linewidth
+\ProcessOptions*                % \ProcessOptions* is quicker !
+\endinput
+%%
+%% End of file `tabu.sty'.
diff --git a/doc/doxygen/latex/trilateration_8c.tex b/doc/doxygen/latex/trilateration_8c.tex
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,362 @@
+\hypertarget{trilateration_8c}{}\doxysection{trilateration.\+c File Reference}
+\label{trilateration_8c}\index{trilateration.c@{trilateration.c}}
+
+
+Implement the trilateration algorithm.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}moore\+\_\+penrose\+\_\+pseudo\+\_\+inverse.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}svd.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}trilateration.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{trilateration_8c_a95fc45efcb10019be21704539eeedefb}{trilateration1}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implement the trilateration algorithm using the pre-\/processed pseudo-\/inverse matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8c_adf749802a4d86c2a97a6bac50d17bfea}{trilateration2}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implement the trilateration algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8c_aadf622c7ec43dce57988a9aef1533758}{trilateration\+\_\+preprocessed\+\_\+get\+\_\+particular\+\_\+solution}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0}$. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{trilateration_8c_ab5f06e68df75b4708d722c268932578c}{trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Xh\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the rank and the solution of the homogeneous system $ A \vec{x_0} = 0 $. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8c_a76695d4831cf7c08b468fe56f117b358}{trilateration\+\_\+get\+\_\+particular\+\_\+solution}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+mat\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Xp\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0} $. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8c_a45883b7c5af43c478bb488b536faa56e}{trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Xp\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Xh\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve a quadratic equation. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8c_a3c9dfccb08c7e4cdb5533cd6bc8b5832}{trilateration\+\_\+get\+\_\+\+A\+\_\+matrix}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}4\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the matrix $ A $ of the equation system\+: $ A \vec{x} = \vec{b}$. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8c_abe0c5c3a77d41a6a94aceb8069ec2082}{trilateration\+\_\+get\+\_\+b\+\_\+vector}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the vector $ \vec{b} $ of the equation system\+: $ A \vec{x} = \vec{b}$. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8c_a4270371ead754327c478d19d57bfafba}{trilateration\+\_\+solve\+\_\+linear\+\_\+equation}} (uint8\+\_\+t line\+\_\+num, uint8\+\_\+t col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}line\+\_\+num\mbox{]}\mbox{[}col\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} sol\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve a linear equation. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the trilateration algorithm. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{trilateration_8c_a95fc45efcb10019be21704539eeedefb}\label{trilateration_8c_a95fc45efcb10019be21704539eeedefb}} 
+\index{trilateration.c@{trilateration.c}!trilateration1@{trilateration1}}
+\index{trilateration1@{trilateration1}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration1()}{trilateration1()}}
+{\footnotesize\ttfamily void trilateration1 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Implement the trilateration algorithm using the pre-\/processed pseudo-\/inverse matrix. 
+
+\begin{DoxyNote}{Note}
+This function should be initialized with the pre-\/processed pseudo-\/inverse matrix of the equation system\+: $ A \vec{x} = 0 $. Caution!\+: The {\ttfamily solution\+\_\+x1} and the {\ttfamily solution\+\_\+x2} vectors have a length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. The first element $(x_0)$ of the {\ttfamily solution\+\_\+x1}\mbox{[}\mbox{]} and the {\ttfamily solution\+\_\+x2}\mbox{[}\mbox{]} vectors is a measure of the solvability of the multilateration problem. For example, in the three-\/dimensional space\+: $ d = x_0 - \left( x_1^{2} + x_2^{2} + x_3^{2} \right)$.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}} & the homogeneous solution. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & includes the first solution. It has the length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & includes the second solution. It has length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 32 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t, trilateration\+\_\+get\+\_\+b\+\_\+vector(), trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution(), trilateration\+\_\+preprocessed\+\_\+get\+\_\+particular\+\_\+solution(), and trilateration\+\_\+solve\+\_\+linear\+\_\+equation().
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+preprocessing\+\_\+get\+\_\+position().
+
+\mbox{\Hypertarget{trilateration_8c_adf749802a4d86c2a97a6bac50d17bfea}\label{trilateration_8c_adf749802a4d86c2a97a6bac50d17bfea}} 
+\index{trilateration.c@{trilateration.c}!trilateration2@{trilateration2}}
+\index{trilateration2@{trilateration2}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration2()}{trilateration2()}}
+{\footnotesize\ttfamily void trilateration2 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Implement the trilateration algorithm. 
+
+\begin{DoxyNote}{Note}
+The pre-\/processed pseudo-\/inverse matrix of the equation system\+: $ A \vec{x} = 0 $ is computed on the mobile station. Caution!\+: The {\ttfamily solution\+\_\+x1} and the {\ttfamily solution\+\_\+x2} vectors have a length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. The first element $(x_0)$ of the {\ttfamily solution\+\_\+x1}\mbox{[}\mbox{]} and the {\ttfamily solution\+\_\+x2}\mbox{[}\mbox{]} vectors is a measure of the solvability of the multilateration problem. For example, in the three-\/dimensional space\+: $ d = x_0 - \left( x_1^{2} + x_2^{2} + x_3^{2} \right)$.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & includes the first solution. It has the length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & includes the second solution. It has the length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 69 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), trilateration\+\_\+get\+\_\+\+A\+\_\+matrix(), trilateration\+\_\+get\+\_\+b\+\_\+vector(), trilateration\+\_\+get\+\_\+particular\+\_\+solution(), trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution(), trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution(), and trilateration\+\_\+solve\+\_\+linear\+\_\+equation().
+
+
+
+Referenced by distance\+\_\+based\+\_\+test(), magnetic\+\_\+based\+\_\+test(), and recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{trilateration_8c_a3c9dfccb08c7e4cdb5533cd6bc8b5832}\label{trilateration_8c_a3c9dfccb08c7e4cdb5533cd6bc8b5832}} 
+\index{trilateration.c@{trilateration.c}!trilateration\_get\_A\_matrix@{trilateration\_get\_A\_matrix}}
+\index{trilateration\_get\_A\_matrix@{trilateration\_get\_A\_matrix}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_A\_matrix()}{trilateration\_get\_A\_matrix()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+\+A\+\_\+matrix (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}4\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the matrix $ A $ of the equation system\+: $ A \vec{x} = \vec{b}$. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix $ A $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 256 of file trilateration.\+c.
+
+
+
+Referenced by pos\+\_\+algos\+\_\+common\+\_\+test(), trilateration2(), trilateration\+\_\+get\+\_\+particular\+\_\+solution(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{trilateration_8c_abe0c5c3a77d41a6a94aceb8069ec2082}\label{trilateration_8c_abe0c5c3a77d41a6a94aceb8069ec2082}} 
+\index{trilateration.c@{trilateration.c}!trilateration\_get\_b\_vector@{trilateration\_get\_b\_vector}}
+\index{trilateration\_get\_b\_vector@{trilateration\_get\_b\_vector}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_b\_vector()}{trilateration\_get\_b\_vector()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+b\+\_\+vector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the vector $ \vec{b} $ of the equation system\+: $ A \vec{x} = \vec{b}$. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector $ vec{b} $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 275 of file trilateration.\+c.
+
+
+
+Referenced by trilateration1(), trilateration2(), and trilateration\+\_\+get\+\_\+particular\+\_\+solution().
+
+\mbox{\Hypertarget{trilateration_8c_a76695d4831cf7c08b468fe56f117b358}\label{trilateration_8c_a76695d4831cf7c08b468fe56f117b358}} 
+\index{trilateration.c@{trilateration.c}!trilateration\_get\_particular\_solution@{trilateration\_get\_particular\_solution}}
+\index{trilateration\_get\_particular\_solution@{trilateration\_get\_particular\_solution}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_particular\_solution()}{trilateration\_get\_particular\_solution()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+particular\+\_\+solution (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+mat\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Xp\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0} $. 
+
+\begin{DoxyNote}{Note}
+The particular solution is calculated in the case of three reference stations. The particular solution is computed on the mobile station.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the reference stations matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em Xp\mbox{[}$\,$\mbox{]}} & includes the particular solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 179 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), trilateration\+\_\+get\+\_\+\+A\+\_\+matrix(), and trilateration\+\_\+get\+\_\+b\+\_\+vector().
+
+
+
+Referenced by trilateration2().
+
+\mbox{\Hypertarget{trilateration_8c_a45883b7c5af43c478bb488b536faa56e}\label{trilateration_8c_a45883b7c5af43c478bb488b536faa56e}} 
+\index{trilateration.c@{trilateration.c}!trilateration\_get\_quadratic\_equation\_solution@{trilateration\_get\_quadratic\_equation\_solution}}
+\index{trilateration\_get\_quadratic\_equation\_solution@{trilateration\_get\_quadratic\_equation\_solution}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_quadratic\_equation\_solution()}{trilateration\_get\_quadratic\_equation\_solution()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{homogeneous\+\_\+solution\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve a quadratic equation. 
+
+The quotients of the quadratic equation are derived from the particular and homogeneous solution.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the particular solution. \\
+\hline
+\mbox{\texttt{ in}}  & {\em homogeneous\+\_\+solution\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the homogeneous solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & presents the first solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & presents the second solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 193 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by trilateration1(), and trilateration2().
+
+\mbox{\Hypertarget{trilateration_8c_ab5f06e68df75b4708d722c268932578c}\label{trilateration_8c_ab5f06e68df75b4708d722c268932578c}} 
+\index{trilateration.c@{trilateration.c}!trilateration\_get\_rank\_and\_homogeneous\_solution@{trilateration\_get\_rank\_and\_homogeneous\_solution}}
+\index{trilateration\_get\_rank\_and\_homogeneous\_solution@{trilateration\_get\_rank\_and\_homogeneous\_solution}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_rank\_and\_homogeneous\_solution()}{trilateration\_get\_rank\_and\_homogeneous\_solution()}}
+{\footnotesize\ttfamily uint8\+\_\+t trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Xh\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the rank and the solution of the homogeneous system $ A \vec{x_0} = 0 $. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em Xh\mbox{[}$\,$\mbox{]}} & includes the homogeneous solution.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the rank of the matrix $ A $. 
+\end{DoxyReturn}
+
+
+Definition at line 149 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+get\+\_\+rank(), matrix\+\_\+t, matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd(), svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), svd\+\_\+get\+\_\+\+U\+\_\+dim(), and trilateration\+\_\+get\+\_\+\+A\+\_\+matrix().
+
+
+
+Referenced by trilateration2().
+
+\mbox{\Hypertarget{trilateration_8c_aadf622c7ec43dce57988a9aef1533758}\label{trilateration_8c_aadf622c7ec43dce57988a9aef1533758}} 
+\index{trilateration.c@{trilateration.c}!trilateration\_preprocessed\_get\_particular\_solution@{trilateration\_preprocessed\_get\_particular\_solution}}
+\index{trilateration\_preprocessed\_get\_particular\_solution@{trilateration\_preprocessed\_get\_particular\_solution}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration\_preprocessed\_get\_particular\_solution()}{trilateration\_preprocessed\_get\_particular\_solution()}}
+{\footnotesize\ttfamily void trilateration\+\_\+preprocessed\+\_\+get\+\_\+particular\+\_\+solution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0}$. 
+
+\begin{DoxyNote}{Note}
+The particular solution is calculated in the case of three reference stations. The particular solution is computed using the pre-\/processed pseudo-\/inverse matrix.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer the vector $ vec{b} $. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]}} & includes the particular solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 121 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by trilateration1().
+
+\mbox{\Hypertarget{trilateration_8c_a4270371ead754327c478d19d57bfafba}\label{trilateration_8c_a4270371ead754327c478d19d57bfafba}} 
+\index{trilateration.c@{trilateration.c}!trilateration\_solve\_linear\_equation@{trilateration\_solve\_linear\_equation}}
+\index{trilateration\_solve\_linear\_equation@{trilateration\_solve\_linear\_equation}!trilateration.c@{trilateration.c}}
+\doxysubsubsection{\texorpdfstring{trilateration\_solve\_linear\_equation()}{trilateration\_solve\_linear\_equation()}}
+{\footnotesize\ttfamily void trilateration\+\_\+solve\+\_\+linear\+\_\+equation (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{line\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}line\+\_\+num\mbox{]}\mbox{[}col\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{sol\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve a linear equation. 
+
+The linear equation is solved by using the pre-\/processed pseudo-\/inverse matrix and the vector $ \vec{b} $
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em line\+\_\+num} & row number of the pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector $ \vec{b} $. \\
+\hline
+\mbox{\texttt{ out}}  & {\em sol\+\_\+vec\mbox{[}$\,$\mbox{]}} & solution vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 291 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by trilateration1(), and trilateration2().
+
diff --git a/doc/doxygen/latex/trilateration_8h.tex b/doc/doxygen/latex/trilateration_8h.tex
new file mode 100644
index 0000000..b60ad15
--- /dev/null
+++ b/doc/doxygen/latex/trilateration_8h.tex
@@ -0,0 +1,358 @@
+\hypertarget{trilateration_8h}{}\doxysection{trilateration.\+h File Reference}
+\label{trilateration_8h}\index{trilateration.h@{trilateration.h}}
+
+
+Implement the trilateration algorithm.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}matrix.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{trilateration_8h_a95fc45efcb10019be21704539eeedefb}{trilateration1}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implement the trilateration algorithm using the pre-\/processed pseudo-\/inverse matrix. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8h_adf749802a4d86c2a97a6bac50d17bfea}{trilateration2}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Implement the trilateration algorithm. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8h_a3c9dfccb08c7e4cdb5533cd6bc8b5832}{trilateration\+\_\+get\+\_\+\+A\+\_\+matrix}} (uint8\+\_\+t m, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} A\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}4\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the matrix $ A $ of the equation system\+: $ A \vec{x} = \vec{b}$. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8h_abe0c5c3a77d41a6a94aceb8069ec2082}{trilateration\+\_\+get\+\_\+b\+\_\+vector}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Computes the vector $ \vec{b} $ of the equation system\+: $ A \vec{x} = \vec{b}$. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8h_aadf622c7ec43dce57988a9aef1533758}{trilateration\+\_\+preprocessed\+\_\+get\+\_\+particular\+\_\+solution}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0}$. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8h_a76695d4831cf7c08b468fe56f117b358}{trilateration\+\_\+get\+\_\+particular\+\_\+solution}} (uint8\+\_\+t m, uint8\+\_\+t n, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+mat\mbox{[}m\mbox{]}\mbox{[}n\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} dist\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Xp\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0} $. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{trilateration_8h_ab5f06e68df75b4708d722c268932578c}{trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution}} (uint8\+\_\+t anchor\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} Xh\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the rank and the solution of the homogeneous system $ A \vec{x_0} = 0 $. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8h_a821d668be2cee0fa1881c05ab99e05fe}{trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution}} (\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} homogeneous\+\_\+solution\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} solution\+\_\+x2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve a quadratic equation. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{trilateration_8h_a4270371ead754327c478d19d57bfafba}{trilateration\+\_\+solve\+\_\+linear\+\_\+equation}} (uint8\+\_\+t line\+\_\+num, uint8\+\_\+t col\+\_\+num, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} pseudo\+\_\+inv\+\_\+matrix\mbox{[}line\+\_\+num\mbox{]}\mbox{[}col\+\_\+num\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}} sol\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Solve a linear equation. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Implement the trilateration algorithm. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+
+Abdelmoumen Norrdine \href{mailto:a.norrdine@googlemail.com}{\texttt{ a.\+norrdine@googlemail.\+com}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{trilateration_8h_a95fc45efcb10019be21704539eeedefb}\label{trilateration_8h_a95fc45efcb10019be21704539eeedefb}} 
+\index{trilateration.h@{trilateration.h}!trilateration1@{trilateration1}}
+\index{trilateration1@{trilateration1}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration1()}{trilateration1()}}
+{\footnotesize\ttfamily void trilateration1 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}anchor\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Implement the trilateration algorithm using the pre-\/processed pseudo-\/inverse matrix. 
+
+\begin{DoxyNote}{Note}
+This function should be initialized with the pre-\/processed pseudo-\/inverse matrix of the equation system\+: $ A \vec{x} = 0 $. Caution!\+: The {\ttfamily solution\+\_\+x1} and the {\ttfamily solution\+\_\+x2} vectors have a length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. The first element $(x_0)$ of the {\ttfamily solution\+\_\+x1}\mbox{[}\mbox{]} and the {\ttfamily solution\+\_\+x2}\mbox{[}\mbox{]} vectors is a measure of the solvability of the multilateration problem. For example, in the three-\/dimensional space\+: $ d = x_0 - \left( x_1^{2} + x_2^{2} + x_3^{2} \right)$.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em homog\+\_\+sol\+\_\+arr\mbox{[}$\,$\mbox{]}} & the homogeneous solution. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & includes the first solution. It has the length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & includes the second solution. It has length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 32 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t, trilateration\+\_\+get\+\_\+b\+\_\+vector(), trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution(), trilateration\+\_\+preprocessed\+\_\+get\+\_\+particular\+\_\+solution(), and trilateration\+\_\+solve\+\_\+linear\+\_\+equation().
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+preprocessing\+\_\+get\+\_\+position().
+
+\mbox{\Hypertarget{trilateration_8h_adf749802a4d86c2a97a6bac50d17bfea}\label{trilateration_8h_adf749802a4d86c2a97a6bac50d17bfea}} 
+\index{trilateration.h@{trilateration.h}!trilateration2@{trilateration2}}
+\index{trilateration2@{trilateration2}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration2()}{trilateration2()}}
+{\footnotesize\ttfamily void trilateration2 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Implement the trilateration algorithm. 
+
+\begin{DoxyNote}{Note}
+The pre-\/processed pseudo-\/inverse matrix of the equation system\+: $ A \vec{x} = 0 $ is computed on the mobile station. Caution!\+: The {\ttfamily solution\+\_\+x1} and the {\ttfamily solution\+\_\+x2} vectors have a length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. The first element $(x_0)$ of the {\ttfamily solution\+\_\+x1}\mbox{[}\mbox{]} and the {\ttfamily solution\+\_\+x2}\mbox{[}\mbox{]} vectors is a measure of the solvability of the multilateration problem. For example, in the three-\/dimensional space\+: $ d = x_0 - \left( x_1^{2} + x_2^{2} + x_3^{2} \right)$.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & includes the first solution. It has the length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & includes the second solution. It has the length of 3 or 4 in the case of two-\/dimensional or three-\/dimensional space. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 69 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), trilateration\+\_\+get\+\_\+\+A\+\_\+matrix(), trilateration\+\_\+get\+\_\+b\+\_\+vector(), trilateration\+\_\+get\+\_\+particular\+\_\+solution(), trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution(), trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution(), and trilateration\+\_\+solve\+\_\+linear\+\_\+equation().
+
+
+
+Referenced by distance\+\_\+based\+\_\+test(), magnetic\+\_\+based\+\_\+test(), and recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{trilateration_8h_a3c9dfccb08c7e4cdb5533cd6bc8b5832}\label{trilateration_8h_a3c9dfccb08c7e4cdb5533cd6bc8b5832}} 
+\index{trilateration.h@{trilateration.h}!trilateration\_get\_A\_matrix@{trilateration\_get\_A\_matrix}}
+\index{trilateration\_get\_A\_matrix@{trilateration\_get\_A\_matrix}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_A\_matrix()}{trilateration\_get\_A\_matrix()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+\+A\+\_\+matrix (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{A\+\_\+matrix\mbox{[}m\mbox{]}\mbox{[}4\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the matrix $ A $ of the equation system\+: $ A \vec{x} = \vec{b}$. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em A\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the matrix $ A $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 256 of file trilateration.\+c.
+
+
+
+Referenced by pos\+\_\+algos\+\_\+common\+\_\+test(), trilateration2(), trilateration\+\_\+get\+\_\+particular\+\_\+solution(), and trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution().
+
+\mbox{\Hypertarget{trilateration_8h_abe0c5c3a77d41a6a94aceb8069ec2082}\label{trilateration_8h_abe0c5c3a77d41a6a94aceb8069ec2082}} 
+\index{trilateration.h@{trilateration.h}!trilateration\_get\_b\_vector@{trilateration\_get\_b\_vector}}
+\index{trilateration\_get\_b\_vector@{trilateration\_get\_b\_vector}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_b\_vector()}{trilateration\_get\_b\_vector()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+b\+\_\+vector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Computes the vector $ \vec{b} $ of the equation system\+: $ A \vec{x} = \vec{b}$. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector $ vec{b} $. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 275 of file trilateration.\+c.
+
+
+
+Referenced by trilateration1(), trilateration2(), and trilateration\+\_\+get\+\_\+particular\+\_\+solution().
+
+\mbox{\Hypertarget{trilateration_8h_a76695d4831cf7c08b468fe56f117b358}\label{trilateration_8h_a76695d4831cf7c08b468fe56f117b358}} 
+\index{trilateration.h@{trilateration.h}!trilateration\_get\_particular\_solution@{trilateration\_get\_particular\_solution}}
+\index{trilateration\_get\_particular\_solution@{trilateration\_get\_particular\_solution}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_particular\_solution()}{trilateration\_get\_particular\_solution()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+particular\+\_\+solution (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{m,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+mat\mbox{[}m\mbox{]}\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{dist\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Xp\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0} $. 
+
+\begin{DoxyNote}{Note}
+The particular solution is calculated in the case of three reference stations. The particular solution is computed on the mobile station.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em m} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & column number of the reference stations matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+mat\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dist\+\_\+arr\mbox{[}$\,$\mbox{]}} & distances to the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em Xp\mbox{[}$\,$\mbox{]}} & includes the particular solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 179 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+mul\+\_\+vec(), matrix\+\_\+t, moore\+\_\+penrose\+\_\+get\+\_\+pinv(), trilateration\+\_\+get\+\_\+\+A\+\_\+matrix(), and trilateration\+\_\+get\+\_\+b\+\_\+vector().
+
+
+
+Referenced by trilateration2().
+
+\mbox{\Hypertarget{trilateration_8h_a821d668be2cee0fa1881c05ab99e05fe}\label{trilateration_8h_a821d668be2cee0fa1881c05ab99e05fe}} 
+\index{trilateration.h@{trilateration.h}!trilateration\_get\_quadratic\_equation\_solution@{trilateration\_get\_quadratic\_equation\_solution}}
+\index{trilateration\_get\_quadratic\_equation\_solution@{trilateration\_get\_quadratic\_equation\_solution}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_quadratic\_equation\_solution()}{trilateration\_get\_quadratic\_equation\_solution()}}
+{\footnotesize\ttfamily void trilateration\+\_\+get\+\_\+quadratic\+\_\+equation\+\_\+solution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{homogeneous\+\_\+solution\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{solution\+\_\+x2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve a quadratic equation. 
+
+The quotients of the quadratic equation are derived from the particular and homogeneous solution.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the particular solution. \\
+\hline
+\mbox{\texttt{ in}}  & {\em homogeneous\+\_\+solution\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the homogeneous solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x1\mbox{[}$\,$\mbox{]}} & presents the first solution. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em solution\+\_\+x2\mbox{[}$\,$\mbox{]}} & presents the second solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 193 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by trilateration1(), and trilateration2().
+
+\mbox{\Hypertarget{trilateration_8h_ab5f06e68df75b4708d722c268932578c}\label{trilateration_8h_ab5f06e68df75b4708d722c268932578c}} 
+\index{trilateration.h@{trilateration.h}!trilateration\_get\_rank\_and\_homogeneous\_solution@{trilateration\_get\_rank\_and\_homogeneous\_solution}}
+\index{trilateration\_get\_rank\_and\_homogeneous\_solution@{trilateration\_get\_rank\_and\_homogeneous\_solution}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration\_get\_rank\_and\_homogeneous\_solution()}{trilateration\_get\_rank\_and\_homogeneous\_solution()}}
+{\footnotesize\ttfamily uint8\+\_\+t trilateration\+\_\+get\+\_\+rank\+\_\+and\+\_\+homogeneous\+\_\+solution (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{anchor\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{anchor\+\_\+pos\+\_\+matrix\mbox{[}anchor\+\_\+num\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{Xh\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the rank and the solution of the homogeneous system $ A \vec{x_0} = 0 $. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+num} & number of the reference stations. \\
+\hline
+\mbox{\texttt{ in}}  & {\em anchor\+\_\+pos\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & three-\/dimensional coordinates of the reference stations. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em Xh\mbox{[}$\,$\mbox{]}} & includes the homogeneous solution.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the rank of the matrix $ A $. 
+\end{DoxyReturn}
+
+
+Definition at line 149 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+dim\+\_\+t\+::col\+\_\+num, matrix\+\_\+get\+\_\+rank(), matrix\+\_\+t, matrix\+\_\+dim\+\_\+t\+::row\+\_\+num, svd(), svd\+\_\+get\+\_\+single\+\_\+values\+\_\+num(), svd\+\_\+get\+\_\+\+U\+\_\+dim(), and trilateration\+\_\+get\+\_\+\+A\+\_\+matrix().
+
+
+
+Referenced by trilateration2().
+
+\mbox{\Hypertarget{trilateration_8h_aadf622c7ec43dce57988a9aef1533758}\label{trilateration_8h_aadf622c7ec43dce57988a9aef1533758}} 
+\index{trilateration.h@{trilateration.h}!trilateration\_preprocessed\_get\_particular\_solution@{trilateration\_preprocessed\_get\_particular\_solution}}
+\index{trilateration\_preprocessed\_get\_particular\_solution@{trilateration\_preprocessed\_get\_particular\_solution}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration\_preprocessed\_get\_particular\_solution()}{trilateration\_preprocessed\_get\_particular\_solution()}}
+{\footnotesize\ttfamily void trilateration\+\_\+preprocessed\+\_\+get\+\_\+particular\+\_\+solution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}4\mbox{]}\mbox{[}3\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the particular solution, which is the general solution of $ A \vec{x_0} = \vec{b_0}$. 
+
+\begin{DoxyNote}{Note}
+The particular solution is calculated in the case of three reference stations. The particular solution is computed using the pre-\/processed pseudo-\/inverse matrix.
+\end{DoxyNote}
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer the vector $ vec{b} $. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em particular\+\_\+solu\+\_\+arr\mbox{[}$\,$\mbox{]}} & includes the particular solution. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 121 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by trilateration1().
+
+\mbox{\Hypertarget{trilateration_8h_a4270371ead754327c478d19d57bfafba}\label{trilateration_8h_a4270371ead754327c478d19d57bfafba}} 
+\index{trilateration.h@{trilateration.h}!trilateration\_solve\_linear\_equation@{trilateration\_solve\_linear\_equation}}
+\index{trilateration\_solve\_linear\_equation@{trilateration\_solve\_linear\_equation}!trilateration.h@{trilateration.h}}
+\doxysubsubsection{\texorpdfstring{trilateration\_solve\_linear\_equation()}{trilateration\_solve\_linear\_equation()}}
+{\footnotesize\ttfamily void trilateration\+\_\+solve\+\_\+linear\+\_\+equation (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{line\+\_\+num,  }\item[{uint8\+\_\+t}]{col\+\_\+num,  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{pseudo\+\_\+inv\+\_\+matrix\mbox{[}line\+\_\+num\mbox{]}\mbox{[}col\+\_\+num\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{matrix_8h_af38ac6b76d645fea9abd6caeb4d9dd31}{matrix\+\_\+t}}}]{sol\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Solve a linear equation. 
+
+The linear equation is solved by using the pre-\/processed pseudo-\/inverse matrix and the vector $ \vec{b} $
+
+\newpage
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em line\+\_\+num} & row number of the pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em col\+\_\+num} & column number of the pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em pseudo\+\_\+inv\+\_\+matrix\mbox{[}$\,$\mbox{]}\mbox{[}$\,$\mbox{]}} & pointer to the pre-\/processed pseudo-\/inverse matrix. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the vector $ \vec{b} $. \\
+\hline
+\mbox{\texttt{ out}}  & {\em sol\+\_\+vec\mbox{[}$\,$\mbox{]}} & solution vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 291 of file trilateration.\+c.
+
+
+
+References matrix\+\_\+t.
+
+
+
+Referenced by trilateration1(), and trilateration2().
+
diff --git a/doc/doxygen/latex/utils_8c.tex b/doc/doxygen/latex/utils_8c.tex
new file mode 100644
index 0000000..c6f0c4b
--- /dev/null
+++ b/doc/doxygen/latex/utils_8c.tex
@@ -0,0 +1,375 @@
+\hypertarget{utils_8c}{}\doxysection{utils.\+c File Reference}
+\label{utils_8c}\index{utils.c@{utils.c}}
+
+
+Utilities for linear algebra. Utility-\/functions are needed by the linear algebra-\/module as well as other modules such as the position algorithm-\/module.  
+
+
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$stdarg.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}shell\+\_\+sort.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+double \mbox{\hyperlink{utils_8c_a689d2d3db40d341609423404abc5a23a}{utils\+\_\+to\+\_\+radian}} (double deg\+\_\+angle)
+\begin{DoxyCompactList}\small\item\em Convert the angle from degrees to radians. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8c_aad6440ba12fa7e2e1fae5ba6dc99cabf}{utils\+\_\+sind}} (double deg\+\_\+angle)
+\begin{DoxyCompactList}\small\item\em Compute the sine of a variable in degrees. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{utils_8c_ad21f654c48115ba2419ca98644a44ae9}{utils\+\_\+swap}} (uint8\+\_\+t $\ast$a, uint8\+\_\+t $\ast$b)
+\begin{DoxyCompactList}\small\item\em Interchange the values of two variables of type uint8\+\_\+t. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8c_a0ae8ea233ea6c519cd0434f8c5bde5e5}{utils\+\_\+max}} (double a, double b)
+\begin{DoxyCompactList}\small\item\em Returns the greater of two real numbers. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8c_ab734a543e5543adb2bd98e1bf279a23d}{utils\+\_\+min}} (double a, double b)
+\begin{DoxyCompactList}\small\item\em Returns the smaller of two real numbers. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{utils_8c_a8163bb6a1c9742b9607fd87c6b3df5c5}{utils\+\_\+u8\+\_\+max}} (uint8\+\_\+t a, uint8\+\_\+t b)
+\begin{DoxyCompactList}\small\item\em Returns the greater of two numbers from type uint8\+\_\+t. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{utils_8c_a81dabd4841ab656130497f0600979850}{utils\+\_\+u8\+\_\+min}} (uint8\+\_\+t a, uint8\+\_\+t b)
+\begin{DoxyCompactList}\small\item\em Returns the smaller of two numbers from type uint8\+\_\+t. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{utils_8c_a335d8d6c4b945638261228cd116cccd6}{utils\+\_\+printf}} (char $\ast$format\+\_\+str,...)
+\begin{DoxyCompactList}\small\item\em Print by using variable format string as well as argument lists. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8c_acda1e3a1b76af6e0e57b507472986ad6}{utils\+\_\+mean}} (uint8\+\_\+t arr\+\_\+size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} in\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the mean value of a data set. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{utils_8c_a535a04a4bff82c88599e4648dfa7cfe1}{utils\+\_\+moving\+\_\+average}} (uint8\+\_\+t arr\+\_\+size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} in\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t window\+\_\+size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} out\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the moving average of a data set. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8c_a971d455baef2d25c61e94c4bc4ac13ee}{utils\+\_\+get\+\_\+median}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Compute the median of a finite array of numbers. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8c_a8cda5a6c15e99e2b76abfb04316301d8}{utils\+\_\+get\+\_\+save\+\_\+square\+\_\+root}} (double x, double y)
+\begin{DoxyCompactList}\small\item\em sqrt(a$^\wedge$2 + b$^\wedge$2) without under/overflow. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Utilities for linear algebra. Utility-\/functions are needed by the linear algebra-\/module as well as other modules such as the position algorithm-\/module. 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{utils_8c_a971d455baef2d25c61e94c4bc4ac13ee}\label{utils_8c_a971d455baef2d25c61e94c4bc4ac13ee}} 
+\index{utils.c@{utils.c}!utils\_get\_median@{utils\_get\_median}}
+\index{utils\_get\_median@{utils\_get\_median}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_get\_median()}{utils\_get\_median()}}
+{\footnotesize\ttfamily double utils\+\_\+get\+\_\+median (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Compute the median of a finite array of numbers. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the data set.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the median value of the data set. 
+\end{DoxyReturn}
+
+
+Definition at line 152 of file utils.\+c.
+
+
+
+References shell\+\_\+sort().
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_a8cda5a6c15e99e2b76abfb04316301d8}\label{utils_8c_a8cda5a6c15e99e2b76abfb04316301d8}} 
+\index{utils.c@{utils.c}!utils\_get\_save\_square\_root@{utils\_get\_save\_square\_root}}
+\index{utils\_get\_save\_square\_root@{utils\_get\_save\_square\_root}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_get\_save\_square\_root()}{utils\_get\_save\_square\_root()}}
+{\footnotesize\ttfamily double utils\+\_\+get\+\_\+save\+\_\+square\+\_\+root (\begin{DoxyParamCaption}\item[{double}]{x,  }\item[{double}]{y }\end{DoxyParamCaption})}
+
+
+
+sqrt(a$^\wedge$2 + b$^\wedge$2) without under/overflow. 
+
+Compute the square root without under/overflow. 
+
+Definition at line 168 of file utils.\+c.
+
+
+
+Referenced by qr\+\_\+householder\+\_\+decomp().
+
+\mbox{\Hypertarget{utils_8c_a0ae8ea233ea6c519cd0434f8c5bde5e5}\label{utils_8c_a0ae8ea233ea6c519cd0434f8c5bde5e5}} 
+\index{utils.c@{utils.c}!utils\_max@{utils\_max}}
+\index{utils\_max@{utils\_max}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_max()}{utils\_max()}}
+{\footnotesize\ttfamily double utils\+\_\+max (\begin{DoxyParamCaption}\item[{double}]{a,  }\item[{double}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the greater of two real numbers. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the greater of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 55 of file utils.\+c.
+
+
+
+Referenced by loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), and utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_acda1e3a1b76af6e0e57b507472986ad6}\label{utils_8c_acda1e3a1b76af6e0e57b507472986ad6}} 
+\index{utils.c@{utils.c}!utils\_mean@{utils\_mean}}
+\index{utils\_mean@{utils\_mean}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_mean()}{utils\_mean()}}
+{\footnotesize\ttfamily double utils\+\_\+mean (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{arr\+\_\+size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{in\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the mean value of a data set. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\+\_\+size} & size of the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em in\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the data set.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the mean value of the data set. 
+\end{DoxyReturn}
+
+
+Definition at line 105 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_ab734a543e5543adb2bd98e1bf279a23d}\label{utils_8c_ab734a543e5543adb2bd98e1bf279a23d}} 
+\index{utils.c@{utils.c}!utils\_min@{utils\_min}}
+\index{utils\_min@{utils\_min}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_min()}{utils\_min()}}
+{\footnotesize\ttfamily double utils\+\_\+min (\begin{DoxyParamCaption}\item[{double}]{a,  }\item[{double}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the smaller of two real numbers. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the smaller of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 65 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_a535a04a4bff82c88599e4648dfa7cfe1}\label{utils_8c_a535a04a4bff82c88599e4648dfa7cfe1}} 
+\index{utils.c@{utils.c}!utils\_moving\_average@{utils\_moving\_average}}
+\index{utils\_moving\_average@{utils\_moving\_average}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_moving\_average()}{utils\_moving\_average()}}
+{\footnotesize\ttfamily void utils\+\_\+moving\+\_\+average (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{arr\+\_\+size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{in\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{window\+\_\+size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{out\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the moving average of a data set. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\+\_\+size} & size of the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em in\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em window\+\_\+size} & window size. \\
+\hline
+\mbox{\texttt{ out}}  & {\em out\+\_\+arr} & pointer to the values of the moving average. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 121 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_a335d8d6c4b945638261228cd116cccd6}\label{utils_8c_a335d8d6c4b945638261228cd116cccd6}} 
+\index{utils.c@{utils.c}!utils\_printf@{utils\_printf}}
+\index{utils\_printf@{utils\_printf}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_printf()}{utils\_printf()}}
+{\footnotesize\ttfamily void utils\+\_\+printf (\begin{DoxyParamCaption}\item[{char $\ast$}]{format\+\_\+str,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+Print by using variable format string as well as argument lists. 
+
+This function enables to print data by using a variable format string as well as argument list. Furthermore, it avoids the error\+: \char`\"{}format not a string literal\char`\"{}, if printf is used.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em $\ast$format\+\_\+str} & format string. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ...} & argument list. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 96 of file utils.\+c.
+
+
+
+Referenced by matrix\+\_\+flex\+\_\+part\+\_\+print(), matrix\+\_\+flex\+\_\+print(), and vector\+\_\+flex\+\_\+print().
+
+\mbox{\Hypertarget{utils_8c_aad6440ba12fa7e2e1fae5ba6dc99cabf}\label{utils_8c_aad6440ba12fa7e2e1fae5ba6dc99cabf}} 
+\index{utils.c@{utils.c}!utils\_sind@{utils\_sind}}
+\index{utils\_sind@{utils\_sind}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_sind()}{utils\_sind()}}
+{\footnotesize\ttfamily double utils\+\_\+sind (\begin{DoxyParamCaption}\item[{double}]{deg\+\_\+angle }\end{DoxyParamCaption})}
+
+
+
+Compute the sine of a variable in degrees. 
+
+Calculate the sine of the variable deg\+\_\+angle, which is expressed in degrees.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em deg\+\_\+angle} & angle in degrees.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+sine value. 
+\end{DoxyReturn}
+
+
+Definition at line 39 of file utils.\+c.
+
+
+
+References M\+\_\+\+PI.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_ad21f654c48115ba2419ca98644a44ae9}\label{utils_8c_ad21f654c48115ba2419ca98644a44ae9}} 
+\index{utils.c@{utils.c}!utils\_swap@{utils\_swap}}
+\index{utils\_swap@{utils\_swap}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_swap()}{utils\_swap()}}
+{\footnotesize\ttfamily void utils\+\_\+swap (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{a,  }\item[{uint8\+\_\+t $\ast$}]{b }\end{DoxyParamCaption})}
+
+
+
+Interchange the values of two variables of type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em $\ast$a} & pointer to first variable. \\
+\hline
+\mbox{\texttt{ in}}  & {\em $\ast$b} & pointer to second variable. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 46 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_a689d2d3db40d341609423404abc5a23a}\label{utils_8c_a689d2d3db40d341609423404abc5a23a}} 
+\index{utils.c@{utils.c}!utils\_to\_radian@{utils\_to\_radian}}
+\index{utils\_to\_radian@{utils\_to\_radian}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_to\_radian()}{utils\_to\_radian()}}
+{\footnotesize\ttfamily double utils\+\_\+to\+\_\+radian (\begin{DoxyParamCaption}\item[{double}]{deg\+\_\+angle }\end{DoxyParamCaption})}
+
+
+
+Convert the angle from degrees to radians. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em deg\+\_\+angle} & angle in degrees.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+angle in radians. 
+\end{DoxyReturn}
+
+
+Definition at line 31 of file utils.\+c.
+
+
+
+References M\+\_\+\+PI.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+test(), and utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8c_a8163bb6a1c9742b9607fd87c6b3df5c5}\label{utils_8c_a8163bb6a1c9742b9607fd87c6b3df5c5}} 
+\index{utils.c@{utils.c}!utils\_u8\_max@{utils\_u8\_max}}
+\index{utils\_u8\_max@{utils\_u8\_max}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_u8\_max()}{utils\_u8\_max()}}
+{\footnotesize\ttfamily uint8\+\_\+t utils\+\_\+u8\+\_\+max (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a,  }\item[{uint8\+\_\+t}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the greater of two numbers from type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the greater of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 75 of file utils.\+c.
+
+\mbox{\Hypertarget{utils_8c_a81dabd4841ab656130497f0600979850}\label{utils_8c_a81dabd4841ab656130497f0600979850}} 
+\index{utils.c@{utils.c}!utils\_u8\_min@{utils\_u8\_min}}
+\index{utils\_u8\_min@{utils\_u8\_min}!utils.c@{utils.c}}
+\doxysubsubsection{\texorpdfstring{utils\_u8\_min()}{utils\_u8\_min()}}
+{\footnotesize\ttfamily uint8\+\_\+t utils\+\_\+u8\+\_\+min (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a,  }\item[{uint8\+\_\+t}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the smaller of two numbers from type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the smaller of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 85 of file utils.\+c.
+
diff --git a/doc/doxygen/latex/utils_8h.tex b/doc/doxygen/latex/utils_8h.tex
new file mode 100644
index 0000000..0a956e7
--- /dev/null
+++ b/doc/doxygen/latex/utils_8h.tex
@@ -0,0 +1,390 @@
+\hypertarget{utils_8h}{}\doxysection{utils.\+h File Reference}
+\label{utils_8h}\index{utils.h@{utils.h}}
+
+
+Utilities for linear algebra.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{utils_8h_ae71449b1cc6e6250b91f539153a7a0d3}\label{utils_8h_ae71449b1cc6e6250b91f539153a7a0d3}} 
+\#define \mbox{\hyperlink{utils_8h_ae71449b1cc6e6250b91f539153a7a0d3}{M\+\_\+\+PI}}~3.\+14159265358979323846
+\begin{DoxyCompactList}\small\item\em Define the pi-\/constant. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+double \mbox{\hyperlink{utils_8h_a689d2d3db40d341609423404abc5a23a}{utils\+\_\+to\+\_\+radian}} (double deg\+\_\+angle)
+\begin{DoxyCompactList}\small\item\em Convert the angle from degrees to radians. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8h_aad6440ba12fa7e2e1fae5ba6dc99cabf}{utils\+\_\+sind}} (double deg\+\_\+angle)
+\begin{DoxyCompactList}\small\item\em Compute the sine of a variable in degrees. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{utils_8h_ad21f654c48115ba2419ca98644a44ae9}{utils\+\_\+swap}} (uint8\+\_\+t $\ast$a, uint8\+\_\+t $\ast$b)
+\begin{DoxyCompactList}\small\item\em Interchange the values of two variables of type uint8\+\_\+t. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8h_a0ae8ea233ea6c519cd0434f8c5bde5e5}{utils\+\_\+max}} (double a, double b)
+\begin{DoxyCompactList}\small\item\em Returns the greater of two real numbers. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8h_ab734a543e5543adb2bd98e1bf279a23d}{utils\+\_\+min}} (double a, double b)
+\begin{DoxyCompactList}\small\item\em Returns the smaller of two real numbers. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{utils_8h_a8163bb6a1c9742b9607fd87c6b3df5c5}{utils\+\_\+u8\+\_\+max}} (uint8\+\_\+t a, uint8\+\_\+t b)
+\begin{DoxyCompactList}\small\item\em Returns the greater of two numbers from type uint8\+\_\+t. \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{utils_8h_a81dabd4841ab656130497f0600979850}{utils\+\_\+u8\+\_\+min}} (uint8\+\_\+t a, uint8\+\_\+t b)
+\begin{DoxyCompactList}\small\item\em Returns the smaller of two numbers from type uint8\+\_\+t. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{utils_8h_a335d8d6c4b945638261228cd116cccd6}{utils\+\_\+printf}} (char $\ast$format\+\_\+str,...)
+\begin{DoxyCompactList}\small\item\em Print by using variable format string as well as argument lists. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8h_acda1e3a1b76af6e0e57b507472986ad6}{utils\+\_\+mean}} (uint8\+\_\+t arr\+\_\+size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} in\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the mean value of a data set. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{utils_8h_a535a04a4bff82c88599e4648dfa7cfe1}{utils\+\_\+moving\+\_\+average}} (uint8\+\_\+t arr\+\_\+size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} in\+\_\+arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t window\+\_\+size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} out\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the moving average of a data set. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8h_a971d455baef2d25c61e94c4bc4ac13ee}{utils\+\_\+get\+\_\+median}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t length)
+\begin{DoxyCompactList}\small\item\em Compute the median of a finite array of numbers. \end{DoxyCompactList}\item 
+double \mbox{\hyperlink{utils_8h_a8cda5a6c15e99e2b76abfb04316301d8}{utils\+\_\+get\+\_\+save\+\_\+square\+\_\+root}} (double x, double y)
+\begin{DoxyCompactList}\small\item\em Compute the square root without under/overflow. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Utilities for linear algebra. 
+
+Utility-\/functions are needed by linear algebra-\/module as well as other modules such as the position algorithm-\/module.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{utils_8h_a971d455baef2d25c61e94c4bc4ac13ee}\label{utils_8h_a971d455baef2d25c61e94c4bc4ac13ee}} 
+\index{utils.h@{utils.h}!utils\_get\_median@{utils\_get\_median}}
+\index{utils\_get\_median@{utils\_get\_median}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_get\_median()}{utils\_get\_median()}}
+{\footnotesize\ttfamily double utils\+\_\+get\+\_\+median (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{length }\end{DoxyParamCaption})}
+
+
+
+Compute the median of a finite array of numbers. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em length} & size of the data set.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the median value of the data set. 
+\end{DoxyReturn}
+
+
+Definition at line 152 of file utils.\+c.
+
+
+
+References shell\+\_\+sort().
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_a8cda5a6c15e99e2b76abfb04316301d8}\label{utils_8h_a8cda5a6c15e99e2b76abfb04316301d8}} 
+\index{utils.h@{utils.h}!utils\_get\_save\_square\_root@{utils\_get\_save\_square\_root}}
+\index{utils\_get\_save\_square\_root@{utils\_get\_save\_square\_root}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_get\_save\_square\_root()}{utils\_get\_save\_square\_root()}}
+{\footnotesize\ttfamily double utils\+\_\+get\+\_\+save\+\_\+square\+\_\+root (\begin{DoxyParamCaption}\item[{double}]{x,  }\item[{double}]{y }\end{DoxyParamCaption})}
+
+
+
+Compute the square root without under/overflow. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em x} & first value. \\
+\hline
+\mbox{\texttt{ in}}  & {\em y} & second value.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+save square root.
+\end{DoxyReturn}
+Compute the square root without under/overflow. 
+
+Definition at line 168 of file utils.\+c.
+
+
+
+Referenced by qr\+\_\+householder\+\_\+decomp().
+
+\mbox{\Hypertarget{utils_8h_a0ae8ea233ea6c519cd0434f8c5bde5e5}\label{utils_8h_a0ae8ea233ea6c519cd0434f8c5bde5e5}} 
+\index{utils.h@{utils.h}!utils\_max@{utils\_max}}
+\index{utils\_max@{utils\_max}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_max()}{utils\_max()}}
+{\footnotesize\ttfamily double utils\+\_\+max (\begin{DoxyParamCaption}\item[{double}]{a,  }\item[{double}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the greater of two real numbers. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the greater of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 55 of file utils.\+c.
+
+
+
+Referenced by loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), and utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_acda1e3a1b76af6e0e57b507472986ad6}\label{utils_8h_acda1e3a1b76af6e0e57b507472986ad6}} 
+\index{utils.h@{utils.h}!utils\_mean@{utils\_mean}}
+\index{utils\_mean@{utils\_mean}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_mean()}{utils\_mean()}}
+{\footnotesize\ttfamily double utils\+\_\+mean (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{arr\+\_\+size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{in\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the mean value of a data set. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\+\_\+size} & size of the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em in\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the data set.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the mean value of the data set. 
+\end{DoxyReturn}
+
+
+Definition at line 105 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_ab734a543e5543adb2bd98e1bf279a23d}\label{utils_8h_ab734a543e5543adb2bd98e1bf279a23d}} 
+\index{utils.h@{utils.h}!utils\_min@{utils\_min}}
+\index{utils\_min@{utils\_min}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_min()}{utils\_min()}}
+{\footnotesize\ttfamily double utils\+\_\+min (\begin{DoxyParamCaption}\item[{double}]{a,  }\item[{double}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the smaller of two real numbers. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the smaller of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 65 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_a535a04a4bff82c88599e4648dfa7cfe1}\label{utils_8h_a535a04a4bff82c88599e4648dfa7cfe1}} 
+\index{utils.h@{utils.h}!utils\_moving\_average@{utils\_moving\_average}}
+\index{utils\_moving\_average@{utils\_moving\_average}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_moving\_average()}{utils\_moving\_average()}}
+{\footnotesize\ttfamily void utils\+\_\+moving\+\_\+average (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{arr\+\_\+size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{in\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{window\+\_\+size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{out\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the moving average of a data set. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em arr\+\_\+size} & size of the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em in\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the data set. \\
+\hline
+\mbox{\texttt{ in}}  & {\em window\+\_\+size} & window size. \\
+\hline
+\mbox{\texttt{ out}}  & {\em out\+\_\+arr} & pointer to the values of the moving average. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 121 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_a335d8d6c4b945638261228cd116cccd6}\label{utils_8h_a335d8d6c4b945638261228cd116cccd6}} 
+\index{utils.h@{utils.h}!utils\_printf@{utils\_printf}}
+\index{utils\_printf@{utils\_printf}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_printf()}{utils\_printf()}}
+{\footnotesize\ttfamily void utils\+\_\+printf (\begin{DoxyParamCaption}\item[{char $\ast$}]{format\+\_\+str,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+Print by using variable format string as well as argument lists. 
+
+This function enables to print data by using a variable format string as well as argument list. Furthermore, it avoids the error\+: \char`\"{}format not a string literal\char`\"{}, if printf is used.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em $\ast$format\+\_\+str} & format string. \\
+\hline
+\mbox{\texttt{ in}}  & {\em ...} & argument list. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 96 of file utils.\+c.
+
+
+
+Referenced by matrix\+\_\+flex\+\_\+part\+\_\+print(), matrix\+\_\+flex\+\_\+print(), and vector\+\_\+flex\+\_\+print().
+
+\mbox{\Hypertarget{utils_8h_aad6440ba12fa7e2e1fae5ba6dc99cabf}\label{utils_8h_aad6440ba12fa7e2e1fae5ba6dc99cabf}} 
+\index{utils.h@{utils.h}!utils\_sind@{utils\_sind}}
+\index{utils\_sind@{utils\_sind}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_sind()}{utils\_sind()}}
+{\footnotesize\ttfamily double utils\+\_\+sind (\begin{DoxyParamCaption}\item[{double}]{deg\+\_\+angle }\end{DoxyParamCaption})}
+
+
+
+Compute the sine of a variable in degrees. 
+
+Calculate the sine of the variable deg\+\_\+angle, which is expressed in degrees.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em deg\+\_\+angle} & angle in degrees.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+sine value. 
+\end{DoxyReturn}
+
+
+Definition at line 39 of file utils.\+c.
+
+
+
+References M\+\_\+\+PI.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_ad21f654c48115ba2419ca98644a44ae9}\label{utils_8h_ad21f654c48115ba2419ca98644a44ae9}} 
+\index{utils.h@{utils.h}!utils\_swap@{utils\_swap}}
+\index{utils\_swap@{utils\_swap}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_swap()}{utils\_swap()}}
+{\footnotesize\ttfamily void utils\+\_\+swap (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{a,  }\item[{uint8\+\_\+t $\ast$}]{b }\end{DoxyParamCaption})}
+
+
+
+Interchange the values of two variables of type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em $\ast$a} & pointer to first variable. \\
+\hline
+\mbox{\texttt{ in}}  & {\em $\ast$b} & pointer to second variable. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 46 of file utils.\+c.
+
+
+
+Referenced by utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_a689d2d3db40d341609423404abc5a23a}\label{utils_8h_a689d2d3db40d341609423404abc5a23a}} 
+\index{utils.h@{utils.h}!utils\_to\_radian@{utils\_to\_radian}}
+\index{utils\_to\_radian@{utils\_to\_radian}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_to\_radian()}{utils\_to\_radian()}}
+{\footnotesize\ttfamily double utils\+\_\+to\+\_\+radian (\begin{DoxyParamCaption}\item[{double}]{deg\+\_\+angle }\end{DoxyParamCaption})}
+
+
+
+Convert the angle from degrees to radians. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em deg\+\_\+angle} & angle in degrees.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+angle in radians. 
+\end{DoxyReturn}
+
+
+Definition at line 31 of file utils.\+c.
+
+
+
+References M\+\_\+\+PI.
+
+
+
+Referenced by magnetic\+\_\+based\+\_\+test(), and utils\+\_\+test().
+
+\mbox{\Hypertarget{utils_8h_a8163bb6a1c9742b9607fd87c6b3df5c5}\label{utils_8h_a8163bb6a1c9742b9607fd87c6b3df5c5}} 
+\index{utils.h@{utils.h}!utils\_u8\_max@{utils\_u8\_max}}
+\index{utils\_u8\_max@{utils\_u8\_max}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_u8\_max()}{utils\_u8\_max()}}
+{\footnotesize\ttfamily uint8\+\_\+t utils\+\_\+u8\+\_\+max (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a,  }\item[{uint8\+\_\+t}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the greater of two numbers from type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the greater of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 75 of file utils.\+c.
+
+\mbox{\Hypertarget{utils_8h_a81dabd4841ab656130497f0600979850}\label{utils_8h_a81dabd4841ab656130497f0600979850}} 
+\index{utils.h@{utils.h}!utils\_u8\_min@{utils\_u8\_min}}
+\index{utils\_u8\_min@{utils\_u8\_min}!utils.h@{utils.h}}
+\doxysubsubsection{\texorpdfstring{utils\_u8\_min()}{utils\_u8\_min()}}
+{\footnotesize\ttfamily uint8\+\_\+t utils\+\_\+u8\+\_\+min (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{a,  }\item[{uint8\+\_\+t}]{b }\end{DoxyParamCaption})}
+
+
+
+Returns the smaller of two numbers from type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em a} & the first value to compare. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b} & the second value to compare.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the smaller of a and b. 
+\end{DoxyReturn}
+
+
+Definition at line 85 of file utils.\+c.
+
diff --git a/doc/doxygen/latex/utils__test_8c.tex b/doc/doxygen/latex/utils__test_8c.tex
new file mode 100644
index 0000000..d81b6fb
--- /dev/null
+++ b/doc/doxygen/latex/utils__test_8c.tex
@@ -0,0 +1,26 @@
+\hypertarget{utils__test_8c}{}\doxysection{utils\+\_\+test.\+c File Reference}
+\label{utils__test_8c}\index{utils\_test.c@{utils\_test.c}}
+
+
+Examples of the utility functions.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{utils__test_8c_a91c61f3d2a5985466b46f5b15ad0faf7}\label{utils__test_8c_a91c61f3d2a5985466b46f5b15ad0faf7}} 
+void \mbox{\hyperlink{utils__test_8c_a91c61f3d2a5985466b46f5b15ad0faf7}{utils\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the utility functions. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the utility functions. 
+
+Utility examples (see \mbox{\hyperlink{utils_8h}{utilities}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/utils__test_8h.tex b/doc/doxygen/latex/utils__test_8h.tex
new file mode 100644
index 0000000..8ac7cf9
--- /dev/null
+++ b/doc/doxygen/latex/utils__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{utils__test_8h}{}\doxysection{utils\+\_\+test.\+h File Reference}
+\label{utils__test_8h}\index{utils\_test.h@{utils\_test.h}}
+
+
+Examples of the utility functions.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{utils__test_8h_a91c61f3d2a5985466b46f5b15ad0faf7}\label{utils__test_8h_a91c61f3d2a5985466b46f5b15ad0faf7}} 
+void \mbox{\hyperlink{utils__test_8h_a91c61f3d2a5985466b46f5b15ad0faf7}{utils\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of the utility functions. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of the utility functions. 
+
+Utility examples (see \mbox{\hyperlink{utils_8h}{utilities}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/vector_8c.tex b/doc/doxygen/latex/vector_8c.tex
new file mode 100644
index 0000000..8c3f4f9
--- /dev/null
+++ b/doc/doxygen/latex/vector_8c.tex
@@ -0,0 +1,798 @@
+\hypertarget{vector_8c}{}\doxysection{vector.\+c File Reference}
+\label{vector_8c}\index{vector.c@{vector.c}}
+
+
+Vector computations. Vector computations include operations such as addition, subtraction, and inner product (dot product).  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$string.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}utils.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{vector_8c_ac4b023769faf53e06c2ed1f2fd928d14}{vector\+\_\+clear}} (uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Clear all the elements of the vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_ae9d3378f23ba835c727245b434b8a7f6}{vector\+\_\+copy}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} src\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} dest\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Copy the elements of the source vector to the destination vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_a4cfc452fdff3e32a601ccff140cd9ae6}{vector\+\_\+get\+\_\+norm2}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the 2-\/norm norm of a vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_aab9d7950d4ba03b0e1a23de5b7fae6a6}{vector\+\_\+get\+\_\+square\+\_\+norm2}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the squared 2-\/norm norm of a vector . \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_af1767c4decdd472ed81035a19cf2152b}{vector\+\_\+get\+\_\+sum}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the sum of the elements of a vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_a4a8fae4c69677390016c116123d9eff8}{vector\+\_\+get\+\_\+mean\+\_\+value}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the average or mean value of a vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a3bbd999b10064c2ede2bd427aa040b63}{vector\+\_\+sub}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+minus\+\_\+b\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the subtraction of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a92917951880002814392c2367896d7a0}{vector\+\_\+add}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+plus\+\_\+b\+\_\+vec\mbox{[}size\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the addition of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a099aa56dd0f260c77afaf8b62b56b2c5}{vector\+\_\+mul}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+mul\+\_\+b\+\_\+vec\mbox{[}size\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_afc68fab0b07c974faf5a457d20b01c58}{vector\+\_\+square}} (uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} square\+\_\+vec\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the square of a vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a90a92f618957807f90ab1d8a8d9150d4}{vector\+\_\+in\+\_\+place\+\_\+scalar\+\_\+mul}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} scl)
+\begin{DoxyCompactList}\small\item\em Compute the product of a vector with a real number. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a3c0bdd0e463fb34757a71470c55af845}{vector\+\_\+scalar\+\_\+mul}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} src\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} scl, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} dest\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the product of a vector with a real number. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_ae41fee7d298da0645c37ed6af7acea0b}{vector\+\_\+scalar\+\_\+div}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} scl)
+\begin{DoxyCompactList}\small\item\em Compute the division of a vector with a real number. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_abbb6bf046e47a8634c15c43a508cacb9}{vector\+\_\+get\+\_\+euclidean\+\_\+distance}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Euclidean distance between two vectors. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_a982bc2f9e4755461eac46c6322b4562d}{vector\+\_\+get\+\_\+max\+\_\+and\+\_\+index}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\mbox{[}$\,$\mbox{]}, uint8\+\_\+t $\ast$index)
+\begin{DoxyCompactList}\small\item\em Compute the maximal value and its index of a vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_a5f4b706c07b9b0f7a4983d80fba99e4e}{vector\+\_\+get\+\_\+scalar\+\_\+product}} (uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec1\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec2\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the dot product of two vectors. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{vector_8c_af98f2e3896ce7b96d598b11033ac1795}{vector\+\_\+is\+\_\+equal}} (uint16\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\+\_\+1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\+\_\+2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine the equality of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a45dfc0cdad1f1a542df4029b498766ba}{vector\+\_\+get\+\_\+index\+\_\+vector}} (uint8\+\_\+t k, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} unsorted\+\_\+vector\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} sorted\+\_\+vector\mbox{[}n\mbox{]}, uint8\+\_\+t index\+\_\+vector\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine the index of the vector elements before sorting. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8c_a1fcbe913017a3b6802d5f66c8ef699ac}{vector\+\_\+get\+\_\+residual}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the residual of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a1348a041e323e7b333482242b51a7674}{vector\+\_\+get\+\_\+elements}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} src\+\_\+vec\mbox{[}$\,$\mbox{]}, uint8\+\_\+t k, uint8\+\_\+t index\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} dst\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get the elements of the vector by an index vector. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{vector_8c_a421f989647bf55af29c0f55b7f33d35a}{vector\+\_\+uint32\+\_\+is\+\_\+equal}} (uint32\+\_\+t length, uint32\+\_\+t vec\+\_\+1\mbox{[}$\,$\mbox{]}, uint32\+\_\+t vec\+\_\+2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine the equality of two vectors of type uint32\+\_\+t. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a8f24286db94dba6ab181edcdfe296262}{vector\+\_\+print}} (uint32\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Display the values of the vector\textquotesingle{}s elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_a8ec75dc585746d950ab517e9929f31fe}{vector\+\_\+print\+\_\+u8\+\_\+array}} (uint32\+\_\+t length, uint8\+\_\+t arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Display the values of the vector\textquotesingle{}s elements of type uint8\+\_\+t. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8c_ab2827264910e858f238868695a92db4b}{vector\+\_\+flex\+\_\+print}} (uint32\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t before\+\_\+dot, uint8\+\_\+t after\+\_\+dot)
+\begin{DoxyCompactList}\small\item\em Display the values of the vector\textquotesingle{}s elements. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Vector computations. Vector computations include operations such as addition, subtraction, and inner product (dot product). 
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{vector_8c_a92917951880002814392c2367896d7a0}\label{vector_8c_a92917951880002814392c2367896d7a0}} 
+\index{vector.c@{vector.c}!vector\_add@{vector\_add}}
+\index{vector\_add@{vector\_add}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_add()}{vector\_add()}}
+{\footnotesize\ttfamily void vector\+\_\+add (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+plus\+\_\+b\+\_\+vec\mbox{[}size\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the addition of two vectors. 
+
+Add b\+\_\+vec to a\+\_\+vec and return the result in a\+\_\+plus\+\_\+b.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to subtract. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em a\+\_\+plus\+\_\+b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 104 of file vector.\+c.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), loc\+\_\+levenberg\+\_\+marquardt(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_ac4b023769faf53e06c2ed1f2fd928d14}\label{vector_8c_ac4b023769faf53e06c2ed1f2fd928d14}} 
+\index{vector.c@{vector.c}!vector\_clear@{vector\_clear}}
+\index{vector\_clear@{vector\_clear}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_clear()}{vector\_clear()}}
+{\footnotesize\ttfamily void vector\+\_\+clear (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Clear all the elements of the vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 32 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), fsolve\+\_\+test(), optimization\+\_\+exponential\+\_\+data\+\_\+test(), optimization\+\_\+sinusoidal\+\_\+data\+\_\+test(), optimization\+\_\+test(), position\+\_\+optimization\+\_\+test(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_ae9d3378f23ba835c727245b434b8a7f6}\label{vector_8c_ae9d3378f23ba835c727245b434b8a7f6}} 
+\index{vector.c@{vector.c}!vector\_copy@{vector\_copy}}
+\index{vector\_copy@{vector\_copy}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_copy()}{vector\_copy()}}
+{\footnotesize\ttfamily void vector\+\_\+copy (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{src\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{dest\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Copy the elements of the source vector to the destination vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to copy. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the source vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 37 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), loc\+\_\+gauss\+\_\+newton(), loc\+\_\+levenberg\+\_\+marquardt(), modified\+\_\+gauss\+\_\+newton(), multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), newton\+\_\+raphson(), opt\+\_\+levenberg\+\_\+marquardt(), recog\+\_\+mitigate\+\_\+multipath(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_ab2827264910e858f238868695a92db4b}\label{vector_8c_ab2827264910e858f238868695a92db4b}} 
+\index{vector.c@{vector.c}!vector\_flex\_print@{vector\_flex\_print}}
+\index{vector\_flex\_print@{vector\_flex\_print}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_flex\_print()}{vector\_flex\_print()}}
+{\footnotesize\ttfamily void vector\+\_\+flex\+\_\+print (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{before\+\_\+dot,  }\item[{uint8\+\_\+t}]{after\+\_\+dot }\end{DoxyParamCaption})}
+
+
+
+Display the values of the vector\textquotesingle{}s elements. 
+
+This function allows the user to determine the precision as well as the with of the numbers to display.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector to display. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr} & pointer to the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em before\+\_\+dot} & the number of digits to be printed before the decimal point. \\
+\hline
+\mbox{\texttt{ in}}  & {\em after\+\_\+dot} & the number of digits to be printed after the decimal point. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 284 of file vector.\+c.
+
+
+
+References utils\+\_\+printf().
+
+
+
+Referenced by distance\+\_\+based\+\_\+test(), fsolve\+\_\+test(), magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field(), magnetic\+\_\+based\+\_\+test(), multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), optimization\+\_\+test(), position\+\_\+optimization\+\_\+test(), solve\+\_\+big\+\_\+matrix\+\_\+test(), solve\+\_\+test(), utils\+\_\+test(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a1348a041e323e7b333482242b51a7674}\label{vector_8c_a1348a041e323e7b333482242b51a7674}} 
+\index{vector.c@{vector.c}!vector\_get\_elements@{vector\_get\_elements}}
+\index{vector\_get\_elements@{vector\_get\_elements}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_elements()}{vector\_get\_elements()}}
+{\footnotesize\ttfamily void vector\+\_\+get\+\_\+elements (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{src\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{index\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{dst\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get the elements of the vector by an index vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em src\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to source vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & size of the index vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em index\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the index vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 235 of file vector.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_abbb6bf046e47a8634c15c43a508cacb9}\label{vector_8c_abbb6bf046e47a8634c15c43a508cacb9}} 
+\index{vector.c@{vector.c}!vector\_get\_euclidean\_distance@{vector\_get\_euclidean\_distance}}
+\index{vector\_get\_euclidean\_distance@{vector\_get\_euclidean\_distance}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_euclidean\_distance()}{vector\_get\_euclidean\_distance()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+euclidean\+\_\+distance (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Euclidean distance between two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the Euclidean distance. 
+\end{DoxyReturn}
+
+
+Definition at line 163 of file vector.\+c.
+
+
+
+References vector\+\_\+get\+\_\+norm2(), vector\+\_\+sub(), and vector\+\_\+t.
+
+
+
+Referenced by loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), newton\+\_\+raphson(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a45dfc0cdad1f1a542df4029b498766ba}\label{vector_8c_a45dfc0cdad1f1a542df4029b498766ba}} 
+\index{vector.c@{vector.c}!vector\_get\_index\_vector@{vector\_get\_index\_vector}}
+\index{vector\_get\_index\_vector@{vector\_get\_index\_vector}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_index\_vector()}{vector\_get\_index\_vector()}}
+{\footnotesize\ttfamily void vector\+\_\+get\+\_\+index\+\_\+vector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{unsorted\+\_\+vector\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{sorted\+\_\+vector\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{index\+\_\+vector\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine the index of the vector elements before sorting. 
+
+Determine the index of the elements of a sorted vector. These indices correspond to the positions of the elements in the unsorted vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em k} & size of the unsorted vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & size of the sorted vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em unsorted\+\_\+vector\mbox{[}$\,$\mbox{]}} & pointer to the unsorted vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em sorted\+\_\+vector\mbox{[}$\,$\mbox{]}} & pointer to the sorted vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em index\+\_\+vector\mbox{[}$\,$\mbox{]}} & pointer to the index vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 214 of file vector.\+c.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{vector_8c_a982bc2f9e4755461eac46c6322b4562d}\label{vector_8c_a982bc2f9e4755461eac46c6322b4562d}} 
+\index{vector.c@{vector.c}!vector\_get\_max\_and\_index@{vector\_get\_max\_and\_index}}
+\index{vector\_get\_max\_and\_index@{vector\_get\_max\_and\_index}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_max\_and\_index()}{vector\_get\_max\_and\_index()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+max\+\_\+and\+\_\+index (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t $\ast$}]{index }\end{DoxyParamCaption})}
+
+
+
+Compute the maximal value and its index of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & vector size. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em index} & pointer to the index.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximal value of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 175 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+\mbox{\Hypertarget{vector_8c_a4a8fae4c69677390016c116123d9eff8}\label{vector_8c_a4a8fae4c69677390016c116123d9eff8}} 
+\index{vector.c@{vector.c}!vector\_get\_mean\_value@{vector\_get\_mean\_value}}
+\index{vector\_get\_mean\_value@{vector\_get\_mean\_value}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_mean\_value()}{vector\_get\_mean\_value()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+mean\+\_\+value (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the average or mean value of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the mean value of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 78 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a4cfc452fdff3e32a601ccff140cd9ae6}\label{vector_8c_a4cfc452fdff3e32a601ccff140cd9ae6}} 
+\index{vector.c@{vector.c}!vector\_get\_norm2@{vector\_get\_norm2}}
+\index{vector\_get\_norm2@{vector\_get\_norm2}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_norm2()}{vector\_get\_norm2()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+norm2 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the 2-\/norm norm of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the 2-\/norm of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 42 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor(), get\+\_\+damped\+\_\+norm(), loc\+\_\+gauss\+\_\+newton(), loc\+\_\+levenberg\+\_\+marquardt(), magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors(), modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), recog\+\_\+mitigate\+\_\+multipath(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+residual(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a1fcbe913017a3b6802d5f66c8ef699ac}\label{vector_8c_a1fcbe913017a3b6802d5f66c8ef699ac}} 
+\index{vector.c@{vector.c}!vector\_get\_residual@{vector\_get\_residual}}
+\index{vector\_get\_residual@{vector\_get\_residual}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_residual()}{vector\_get\_residual()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+residual (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the residual of two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & vector size. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the residual of the two vectors. 
+\end{DoxyReturn}
+
+
+Definition at line 227 of file vector.\+c.
+
+
+
+References vector\+\_\+get\+\_\+norm2(), vector\+\_\+sub(), and vector\+\_\+t.
+
+\mbox{\Hypertarget{vector_8c_a5f4b706c07b9b0f7a4983d80fba99e4e}\label{vector_8c_a5f4b706c07b9b0f7a4983d80fba99e4e}} 
+\index{vector.c@{vector.c}!vector\_get\_scalar\_product@{vector\_get\_scalar\_product}}
+\index{vector\_get\_scalar\_product@{vector\_get\_scalar\_product}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_scalar\_product()}{vector\_get\_scalar\_product()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+scalar\+\_\+product (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec1\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec2\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the dot product of two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & size of the vectors. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the scalar product of two vectors. 
+\end{DoxyReturn}
+
+
+Definition at line 190 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_aab9d7950d4ba03b0e1a23de5b7fae6a6}\label{vector_8c_aab9d7950d4ba03b0e1a23de5b7fae6a6}} 
+\index{vector.c@{vector.c}!vector\_get\_square\_norm2@{vector\_get\_square\_norm2}}
+\index{vector\_get\_square\_norm2@{vector\_get\_square\_norm2}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_square\_norm2()}{vector\_get\_square\_norm2()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+square\+\_\+norm2 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the squared 2-\/norm norm of a vector . 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the squared 2-\/norm of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 54 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_af1767c4decdd472ed81035a19cf2152b}\label{vector_8c_af1767c4decdd472ed81035a19cf2152b}} 
+\index{vector.c@{vector.c}!vector\_get\_sum@{vector\_get\_sum}}
+\index{vector\_get\_sum@{vector\_get\_sum}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_sum()}{vector\_get\_sum()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+sum (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the sum of the elements of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the sum of the elements of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 66 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a90a92f618957807f90ab1d8a8d9150d4}\label{vector_8c_a90a92f618957807f90ab1d8a8d9150d4}} 
+\index{vector.c@{vector.c}!vector\_in\_place\_scalar\_mul@{vector\_in\_place\_scalar\_mul}}
+\index{vector\_in\_place\_scalar\_mul@{vector\_in\_place\_scalar\_mul}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_in\_place\_scalar\_mul()}{vector\_in\_place\_scalar\_mul()}}
+{\footnotesize\ttfamily void vector\+\_\+in\+\_\+place\+\_\+scalar\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{scl }\end{DoxyParamCaption})}
+
+
+
+Compute the product of a vector with a real number. 
+
+Multiple the elements of a vector with a scalar and return the result in the vector itself.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to multiply with a scalar. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the source/destination vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scl} & a scalar. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 131 of file vector.\+c.
+
+
+
+Referenced by get\+\_\+delta\+\_\+x().
+
+\mbox{\Hypertarget{vector_8c_af98f2e3896ce7b96d598b11033ac1795}\label{vector_8c_af98f2e3896ce7b96d598b11033ac1795}} 
+\index{vector.c@{vector.c}!vector\_is\_equal@{vector\_is\_equal}}
+\index{vector\_is\_equal@{vector\_is\_equal}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_is\_equal()}{vector\_is\_equal()}}
+{\footnotesize\ttfamily bool vector\+\_\+is\+\_\+equal (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\+\_\+1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\+\_\+2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine the equality of two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if the two vectors are equal. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 202 of file vector.\+c.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a099aa56dd0f260c77afaf8b62b56b2c5}\label{vector_8c_a099aa56dd0f260c77afaf8b62b56b2c5}} 
+\index{vector.c@{vector.c}!vector\_mul@{vector\_mul}}
+\index{vector\_mul@{vector\_mul}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_mul()}{vector\_mul()}}
+{\footnotesize\ttfamily void vector\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+mul\+\_\+b\+\_\+vec\mbox{[}size\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of two vectors. 
+
+Multiple vectors a\+\_\+vec and b\+\_\+vec element by element and return the result in a\+\_\+mul\+\_\+b.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em a\+\_\+mul\+\_\+b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 114 of file vector.\+c.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a8f24286db94dba6ab181edcdfe296262}\label{vector_8c_a8f24286db94dba6ab181edcdfe296262}} 
+\index{vector.c@{vector.c}!vector\_print@{vector\_print}}
+\index{vector\_print@{vector\_print}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_print()}{vector\_print()}}
+{\footnotesize\ttfamily void vector\+\_\+print (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Display the values of the vector\textquotesingle{}s elements. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector to display. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr} & pointer to the vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 255 of file vector.\+c.
+
+\mbox{\Hypertarget{vector_8c_a8ec75dc585746d950ab517e9929f31fe}\label{vector_8c_a8ec75dc585746d950ab517e9929f31fe}} 
+\index{vector.c@{vector.c}!vector\_print\_u8\_array@{vector\_print\_u8\_array}}
+\index{vector\_print\_u8\_array@{vector\_print\_u8\_array}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_print\_u8\_array()}{vector\_print\_u8\_array()}}
+{\footnotesize\ttfamily void vector\+\_\+print\+\_\+u8\+\_\+array (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{uint8\+\_\+t}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Display the values of the vector\textquotesingle{}s elements of type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector to display. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr} & pointer to the vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 269 of file vector.\+c.
+
+\mbox{\Hypertarget{vector_8c_ae41fee7d298da0645c37ed6af7acea0b}\label{vector_8c_ae41fee7d298da0645c37ed6af7acea0b}} 
+\index{vector.c@{vector.c}!vector\_scalar\_div@{vector\_scalar\_div}}
+\index{vector\_scalar\_div@{vector\_scalar\_div}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_scalar\_div()}{vector\_scalar\_div()}}
+{\footnotesize\ttfamily void vector\+\_\+scalar\+\_\+div (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{scl }\end{DoxyParamCaption})}
+
+
+
+Compute the division of a vector with a real number. 
+
+Divide the elements of a vector with a scalar and return the result in the vector itself.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to divide with a scalar. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the source/destination vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scl} & a scalar. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 151 of file vector.\+c.
+
+\mbox{\Hypertarget{vector_8c_a3c0bdd0e463fb34757a71470c55af845}\label{vector_8c_a3c0bdd0e463fb34757a71470c55af845}} 
+\index{vector.c@{vector.c}!vector\_scalar\_mul@{vector\_scalar\_mul}}
+\index{vector\_scalar\_mul@{vector\_scalar\_mul}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_scalar\_mul()}{vector\_scalar\_mul()}}
+{\footnotesize\ttfamily void vector\+\_\+scalar\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{src\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{scl,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{dest\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the product of a vector with a real number. 
+
+Multiple the elements of a vector with a scalar and return the result in other vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to multiply with a scalar. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the source vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scl} & a scalar. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+vec} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 141 of file vector.\+c.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson().
+
+\mbox{\Hypertarget{vector_8c_afc68fab0b07c974faf5a457d20b01c58}\label{vector_8c_afc68fab0b07c974faf5a457d20b01c58}} 
+\index{vector.c@{vector.c}!vector\_square@{vector\_square}}
+\index{vector\_square@{vector\_square}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_square()}{vector\_square()}}
+{\footnotesize\ttfamily void vector\+\_\+square (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{square\+\_\+vec\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the square of a vector. 
+
+Square the elements of vector vec and return the result in square\+\_\+vec.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & number of elements to square. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the source vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em square\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 124 of file vector.\+c.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{vector_8c_a3bbd999b10064c2ede2bd427aa040b63}\label{vector_8c_a3bbd999b10064c2ede2bd427aa040b63}} 
+\index{vector.c@{vector.c}!vector\_sub@{vector\_sub}}
+\index{vector\_sub@{vector\_sub}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_sub()}{vector\_sub()}}
+{\footnotesize\ttfamily void vector\+\_\+sub (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+minus\+\_\+b\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the subtraction of two vectors. 
+
+Substact b\+\_\+vec from a\+\_\+vec and return the result in a\+\_\+minus\+\_\+b.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to subtract. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em a\+\_\+minus\+\_\+b\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 94 of file vector.\+c.
+
+
+
+Referenced by dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor(), loc\+\_\+gauss\+\_\+newton(), magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors(), modified\+\_\+gauss\+\_\+newton(), newton\+\_\+raphson(), recog\+\_\+mitigate\+\_\+multipath(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+residual(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8c_a421f989647bf55af29c0f55b7f33d35a}\label{vector_8c_a421f989647bf55af29c0f55b7f33d35a}} 
+\index{vector.c@{vector.c}!vector\_uint32\_is\_equal@{vector\_uint32\_is\_equal}}
+\index{vector\_uint32\_is\_equal@{vector\_uint32\_is\_equal}!vector.c@{vector.c}}
+\doxysubsubsection{\texorpdfstring{vector\_uint32\_is\_equal()}{vector\_uint32\_is\_equal()}}
+{\footnotesize\ttfamily bool vector\+\_\+uint32\+\_\+is\+\_\+equal (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{uint32\+\_\+t}]{vec\+\_\+1\mbox{[}$\,$\mbox{]},  }\item[{uint32\+\_\+t}]{vec\+\_\+2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine the equality of two vectors of type uint32\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if the two vectors are equal. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 243 of file vector.\+c.
+
diff --git a/doc/doxygen/latex/vector_8h.tex b/doc/doxygen/latex/vector_8h.tex
new file mode 100644
index 0000000..e485726
--- /dev/null
+++ b/doc/doxygen/latex/vector_8h.tex
@@ -0,0 +1,801 @@
+\hypertarget{vector_8h}{}\doxysection{vector.\+h File Reference}
+\label{vector_8h}\index{vector.h@{vector.h}}
+
+
+Vector computations.  
+
+
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$stdbool.\+h$>$}\newline
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}\label{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}} 
+\#define \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}~double
+\begin{DoxyCompactList}\small\item\em Define the data type of the vector elements. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{vector_8h_a758d38ad9623aa8c385bce765a3b7d17}{vector\+\_\+clear}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Clear all the elements of the vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_ae9d3378f23ba835c727245b434b8a7f6}{vector\+\_\+copy}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} src\+\_\+arr\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} dest\+\_\+arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Copy the elements of the source vector to the destination vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_a4cfc452fdff3e32a601ccff140cd9ae6}{vector\+\_\+get\+\_\+norm2}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the 2-\/norm norm of a vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_aab9d7950d4ba03b0e1a23de5b7fae6a6}{vector\+\_\+get\+\_\+square\+\_\+norm2}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the squared 2-\/norm norm of a vector . \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_af1767c4decdd472ed81035a19cf2152b}{vector\+\_\+get\+\_\+sum}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the sum of the elements of a vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_a4a8fae4c69677390016c116123d9eff8}{vector\+\_\+get\+\_\+mean\+\_\+value}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the average or mean value of a vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a3bbd999b10064c2ede2bd427aa040b63}{vector\+\_\+sub}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+minus\+\_\+b\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the subtraction of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a92917951880002814392c2367896d7a0}{vector\+\_\+add}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+plus\+\_\+b\+\_\+vec\mbox{[}size\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the addition of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a099aa56dd0f260c77afaf8b62b56b2c5}{vector\+\_\+mul}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+mul\+\_\+b\+\_\+vec\mbox{[}size\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the multiplication of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_afc68fab0b07c974faf5a457d20b01c58}{vector\+\_\+square}} (uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} square\+\_\+vec\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the square of a vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a90a92f618957807f90ab1d8a8d9150d4}{vector\+\_\+in\+\_\+place\+\_\+scalar\+\_\+mul}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} scl)
+\begin{DoxyCompactList}\small\item\em Compute the product of a vector with a real number. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a3c0bdd0e463fb34757a71470c55af845}{vector\+\_\+scalar\+\_\+mul}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} src\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} scl, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} dest\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the product of a vector with a real number. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_ae41fee7d298da0645c37ed6af7acea0b}{vector\+\_\+scalar\+\_\+div}} (uint8\+\_\+t size, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}size\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} scl)
+\begin{DoxyCompactList}\small\item\em Compute the division of a vector with a real number. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_abbb6bf046e47a8634c15c43a508cacb9}{vector\+\_\+get\+\_\+euclidean\+\_\+distance}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the Euclidean distance between two vectors. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_a5f4b706c07b9b0f7a4983d80fba99e4e}{vector\+\_\+get\+\_\+scalar\+\_\+product}} (uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec1\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec2\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the dot product of two vectors. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{vector_8h_af98f2e3896ce7b96d598b11033ac1795}{vector\+\_\+is\+\_\+equal}} (uint16\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\+\_\+1\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\+\_\+2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine the equality of two vectors. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{vector_8h_a421f989647bf55af29c0f55b7f33d35a}{vector\+\_\+uint32\+\_\+is\+\_\+equal}} (uint32\+\_\+t length, uint32\+\_\+t vec\+\_\+1\mbox{[}$\,$\mbox{]}, uint32\+\_\+t vec\+\_\+2\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine the equality of two vectors of type uint32\+\_\+t. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a45dfc0cdad1f1a542df4029b498766ba}{vector\+\_\+get\+\_\+index\+\_\+vector}} (uint8\+\_\+t k, uint8\+\_\+t n, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} unsorted\+\_\+vector\mbox{[}n\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} sorted\+\_\+vector\mbox{[}n\mbox{]}, uint8\+\_\+t index\+\_\+vector\mbox{[}n\mbox{]})
+\begin{DoxyCompactList}\small\item\em Determine the index of the vector elements before sorting. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_a982bc2f9e4755461eac46c6322b4562d}{vector\+\_\+get\+\_\+max\+\_\+and\+\_\+index}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vec\mbox{[}$\,$\mbox{]}, uint8\+\_\+t $\ast$index)
+\begin{DoxyCompactList}\small\item\em Compute the maximal value and its index of a vector. \end{DoxyCompactList}\item 
+\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} \mbox{\hyperlink{vector_8h_a1fcbe913017a3b6802d5f66c8ef699ac}{vector\+\_\+get\+\_\+residual}} (uint8\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} a\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} b\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Compute the residual of two vectors. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a1348a041e323e7b333482242b51a7674}{vector\+\_\+get\+\_\+elements}} (\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} src\+\_\+vec\mbox{[}$\,$\mbox{]}, uint8\+\_\+t k, uint8\+\_\+t index\+\_\+vec\mbox{[}$\,$\mbox{]}, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} dst\+\_\+vec\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Get the elements of the vector by an index vector. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a8f24286db94dba6ab181edcdfe296262}{vector\+\_\+print}} (uint32\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Display the values of the vector\textquotesingle{}s elements. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_a8ec75dc585746d950ab517e9929f31fe}{vector\+\_\+print\+\_\+u8\+\_\+array}} (uint32\+\_\+t length, uint8\+\_\+t arr\mbox{[}$\,$\mbox{]})
+\begin{DoxyCompactList}\small\item\em Display the values of the vector\textquotesingle{}s elements of type uint8\+\_\+t. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{vector_8h_ab2827264910e858f238868695a92db4b}{vector\+\_\+flex\+\_\+print}} (uint32\+\_\+t length, \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} arr\mbox{[}$\,$\mbox{]}, uint8\+\_\+t before\+\_\+dot, uint8\+\_\+t after\+\_\+dot)
+\begin{DoxyCompactList}\small\item\em Display the values of the vector\textquotesingle{}s elements. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Vector computations. 
+
+Vector computations include operations such as addition, subtraction, and inner product (dot product).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{vector_8h_a92917951880002814392c2367896d7a0}\label{vector_8h_a92917951880002814392c2367896d7a0}} 
+\index{vector.h@{vector.h}!vector\_add@{vector\_add}}
+\index{vector\_add@{vector\_add}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_add()}{vector\_add()}}
+{\footnotesize\ttfamily void vector\+\_\+add (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+plus\+\_\+b\+\_\+vec\mbox{[}size\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the addition of two vectors. 
+
+Add b\+\_\+vec to a\+\_\+vec and return the result in a\+\_\+plus\+\_\+b.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to subtract. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em a\+\_\+plus\+\_\+b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 104 of file vector.\+c.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), loc\+\_\+levenberg\+\_\+marquardt(), loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a758d38ad9623aa8c385bce765a3b7d17}\label{vector_8h_a758d38ad9623aa8c385bce765a3b7d17}} 
+\index{vector.h@{vector.h}!vector\_clear@{vector\_clear}}
+\index{vector\_clear@{vector\_clear}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_clear()}{vector\_clear()}}
+{\footnotesize\ttfamily void vector\+\_\+clear (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Clear all the elements of the vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 32 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by dist\+\_\+based\+\_\+jacobian\+\_\+get\+\_\+\+J\+Tf(), fsolve\+\_\+test(), optimization\+\_\+exponential\+\_\+data\+\_\+test(), optimization\+\_\+sinusoidal\+\_\+data\+\_\+test(), optimization\+\_\+test(), position\+\_\+optimization\+\_\+test(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_ae9d3378f23ba835c727245b434b8a7f6}\label{vector_8h_ae9d3378f23ba835c727245b434b8a7f6}} 
+\index{vector.h@{vector.h}!vector\_copy@{vector\_copy}}
+\index{vector\_copy@{vector\_copy}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_copy()}{vector\_copy()}}
+{\footnotesize\ttfamily void vector\+\_\+copy (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{src\+\_\+arr\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{dest\+\_\+arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Copy the elements of the source vector to the destination vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to copy. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the source vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em dest\+\_\+arr\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 37 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), loc\+\_\+gauss\+\_\+newton(), loc\+\_\+levenberg\+\_\+marquardt(), modified\+\_\+gauss\+\_\+newton(), multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), newton\+\_\+raphson(), opt\+\_\+levenberg\+\_\+marquardt(), recog\+\_\+mitigate\+\_\+multipath(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_ab2827264910e858f238868695a92db4b}\label{vector_8h_ab2827264910e858f238868695a92db4b}} 
+\index{vector.h@{vector.h}!vector\_flex\_print@{vector\_flex\_print}}
+\index{vector\_flex\_print@{vector\_flex\_print}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_flex\_print()}{vector\_flex\_print()}}
+{\footnotesize\ttfamily void vector\+\_\+flex\+\_\+print (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{before\+\_\+dot,  }\item[{uint8\+\_\+t}]{after\+\_\+dot }\end{DoxyParamCaption})}
+
+
+
+Display the values of the vector\textquotesingle{}s elements. 
+
+This function allows the user to determine the precision as well as the with of the numbers to display.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector to display. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr} & pointer to the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em before\+\_\+dot} & the number of digits to be printed before the decimal point. \\
+\hline
+\mbox{\texttt{ in}}  & {\em after\+\_\+dot} & the number of digits to be printed after the decimal point. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 284 of file vector.\+c.
+
+
+
+References utils\+\_\+printf().
+
+
+
+Referenced by distance\+\_\+based\+\_\+test(), fsolve\+\_\+test(), magnetic\+\_\+based\+\_\+get\+\_\+magnetic\+\_\+field(), magnetic\+\_\+based\+\_\+test(), multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test(), optimization\+\_\+test(), position\+\_\+optimization\+\_\+test(), solve\+\_\+big\+\_\+matrix\+\_\+test(), solve\+\_\+test(), utils\+\_\+test(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a1348a041e323e7b333482242b51a7674}\label{vector_8h_a1348a041e323e7b333482242b51a7674}} 
+\index{vector.h@{vector.h}!vector\_get\_elements@{vector\_get\_elements}}
+\index{vector\_get\_elements@{vector\_get\_elements}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_elements()}{vector\_get\_elements()}}
+{\footnotesize\ttfamily void vector\+\_\+get\+\_\+elements (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{src\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{index\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{dst\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Get the elements of the vector by an index vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em src\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to source vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em k} & size of the index vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em index\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the index vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dst\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 235 of file vector.\+c.
+
+
+
+Referenced by multipath\+\_\+algo\+\_\+own\+\_\+norm\+\_\+distr\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_abbb6bf046e47a8634c15c43a508cacb9}\label{vector_8h_abbb6bf046e47a8634c15c43a508cacb9}} 
+\index{vector.h@{vector.h}!vector\_get\_euclidean\_distance@{vector\_get\_euclidean\_distance}}
+\index{vector\_get\_euclidean\_distance@{vector\_get\_euclidean\_distance}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_euclidean\_distance()}{vector\_get\_euclidean\_distance()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+euclidean\+\_\+distance (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the Euclidean distance between two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the Euclidean distance. 
+\end{DoxyReturn}
+
+
+Definition at line 163 of file vector.\+c.
+
+
+
+References vector\+\_\+get\+\_\+norm2(), vector\+\_\+sub(), and vector\+\_\+t.
+
+
+
+Referenced by loc\+\_\+gauss\+\_\+newton(), modified\+\_\+gauss\+\_\+newton(), newton\+\_\+raphson(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a45dfc0cdad1f1a542df4029b498766ba}\label{vector_8h_a45dfc0cdad1f1a542df4029b498766ba}} 
+\index{vector.h@{vector.h}!vector\_get\_index\_vector@{vector\_get\_index\_vector}}
+\index{vector\_get\_index\_vector@{vector\_get\_index\_vector}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_index\_vector()}{vector\_get\_index\_vector()}}
+{\footnotesize\ttfamily void vector\+\_\+get\+\_\+index\+\_\+vector (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{k,  }\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{unsorted\+\_\+vector\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{sorted\+\_\+vector\mbox{[}n\mbox{]},  }\item[{uint8\+\_\+t}]{index\+\_\+vector\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine the index of the vector elements before sorting. 
+
+Determine the index of the elements of a sorted vector. These indices correspond to the positions of the elements in the unsorted vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em k} & size of the unsorted vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em n} & size of the sorted vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em unsorted\+\_\+vector\mbox{[}$\,$\mbox{]}} & pointer to the unsorted vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em sorted\+\_\+vector\mbox{[}$\,$\mbox{]}} & pointer to the sorted vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em index\+\_\+vector\mbox{[}$\,$\mbox{]}} & pointer to the index vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 214 of file vector.\+c.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{vector_8h_a982bc2f9e4755461eac46c6322b4562d}\label{vector_8h_a982bc2f9e4755461eac46c6322b4562d}} 
+\index{vector.h@{vector.h}!vector\_get\_max\_and\_index@{vector\_get\_max\_and\_index}}
+\index{vector\_get\_max\_and\_index@{vector\_get\_max\_and\_index}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_max\_and\_index()}{vector\_get\_max\_and\_index()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+max\+\_\+and\+\_\+index (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\mbox{[}$\,$\mbox{]},  }\item[{uint8\+\_\+t $\ast$}]{index }\end{DoxyParamCaption})}
+
+
+
+Compute the maximal value and its index of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & vector size. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em index} & pointer to the index.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the maximal value of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 175 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+\mbox{\Hypertarget{vector_8h_a4a8fae4c69677390016c116123d9eff8}\label{vector_8h_a4a8fae4c69677390016c116123d9eff8}} 
+\index{vector.h@{vector.h}!vector\_get\_mean\_value@{vector\_get\_mean\_value}}
+\index{vector\_get\_mean\_value@{vector\_get\_mean\_value}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_mean\_value()}{vector\_get\_mean\_value()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+mean\+\_\+value (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the average or mean value of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the mean value of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 78 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a4cfc452fdff3e32a601ccff140cd9ae6}\label{vector_8h_a4cfc452fdff3e32a601ccff140cd9ae6}} 
+\index{vector.h@{vector.h}!vector\_get\_norm2@{vector\_get\_norm2}}
+\index{vector\_get\_norm2@{vector\_get\_norm2}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_norm2()}{vector\_get\_norm2()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+norm2 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the 2-\/norm norm of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the 2-\/norm of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 42 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson(), dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor(), get\+\_\+damped\+\_\+norm(), loc\+\_\+gauss\+\_\+newton(), loc\+\_\+levenberg\+\_\+marquardt(), magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors(), modified\+\_\+gauss\+\_\+newton(), opt\+\_\+levenberg\+\_\+marquardt(), recog\+\_\+mitigate\+\_\+multipath(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+residual(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a1fcbe913017a3b6802d5f66c8ef699ac}\label{vector_8h_a1fcbe913017a3b6802d5f66c8ef699ac}} 
+\index{vector.h@{vector.h}!vector\_get\_residual@{vector\_get\_residual}}
+\index{vector\_get\_residual@{vector\_get\_residual}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_residual()}{vector\_get\_residual()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+residual (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the residual of two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & vector size. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the residual of the two vectors. 
+\end{DoxyReturn}
+
+
+Definition at line 227 of file vector.\+c.
+
+
+
+References vector\+\_\+get\+\_\+norm2(), vector\+\_\+sub(), and vector\+\_\+t.
+
+\mbox{\Hypertarget{vector_8h_a5f4b706c07b9b0f7a4983d80fba99e4e}\label{vector_8h_a5f4b706c07b9b0f7a4983d80fba99e4e}} 
+\index{vector.h@{vector.h}!vector\_get\_scalar\_product@{vector\_get\_scalar\_product}}
+\index{vector\_get\_scalar\_product@{vector\_get\_scalar\_product}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_scalar\_product()}{vector\_get\_scalar\_product()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+scalar\+\_\+product (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec1\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec2\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the dot product of two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & size of the vectors. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the scalar product of two vectors. 
+\end{DoxyReturn}
+
+
+Definition at line 190 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by loc\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), opt\+\_\+levenberg\+\_\+marquardt\+\_\+correction(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_aab9d7950d4ba03b0e1a23de5b7fae6a6}\label{vector_8h_aab9d7950d4ba03b0e1a23de5b7fae6a6}} 
+\index{vector.h@{vector.h}!vector\_get\_square\_norm2@{vector\_get\_square\_norm2}}
+\index{vector\_get\_square\_norm2@{vector\_get\_square\_norm2}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_square\_norm2()}{vector\_get\_square\_norm2()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+square\+\_\+norm2 (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the squared 2-\/norm norm of a vector . 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the squared 2-\/norm of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 54 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_af1767c4decdd472ed81035a19cf2152b}\label{vector_8h_af1767c4decdd472ed81035a19cf2152b}} 
+\index{vector.h@{vector.h}!vector\_get\_sum@{vector\_get\_sum}}
+\index{vector\_get\_sum@{vector\_get\_sum}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_get\_sum()}{vector\_get\_sum()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}} vector\+\_\+get\+\_\+sum (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the sum of the elements of a vector. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr\mbox{[}$\,$\mbox{]}} & pointer to the vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+the sum of the elements of the vector. 
+\end{DoxyReturn}
+
+
+Definition at line 66 of file vector.\+c.
+
+
+
+References vector\+\_\+t.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a90a92f618957807f90ab1d8a8d9150d4}\label{vector_8h_a90a92f618957807f90ab1d8a8d9150d4}} 
+\index{vector.h@{vector.h}!vector\_in\_place\_scalar\_mul@{vector\_in\_place\_scalar\_mul}}
+\index{vector\_in\_place\_scalar\_mul@{vector\_in\_place\_scalar\_mul}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_in\_place\_scalar\_mul()}{vector\_in\_place\_scalar\_mul()}}
+{\footnotesize\ttfamily void vector\+\_\+in\+\_\+place\+\_\+scalar\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{scl }\end{DoxyParamCaption})}
+
+
+
+Compute the product of a vector with a real number. 
+
+Multiple the elements of a vector with a scalar and return the result in the vector itself.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to multiply with a scalar. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the source/destination vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scl} & a scalar. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 131 of file vector.\+c.
+
+
+
+Referenced by get\+\_\+delta\+\_\+x().
+
+\mbox{\Hypertarget{vector_8h_af98f2e3896ce7b96d598b11033ac1795}\label{vector_8h_af98f2e3896ce7b96d598b11033ac1795}} 
+\index{vector.h@{vector.h}!vector\_is\_equal@{vector\_is\_equal}}
+\index{vector\_is\_equal@{vector\_is\_equal}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_is\_equal()}{vector\_is\_equal()}}
+{\footnotesize\ttfamily bool vector\+\_\+is\+\_\+equal (\begin{DoxyParamCaption}\item[{uint16\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\+\_\+1\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\+\_\+2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine the equality of two vectors. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if the two vectors are equal. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 202 of file vector.\+c.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a099aa56dd0f260c77afaf8b62b56b2c5}\label{vector_8h_a099aa56dd0f260c77afaf8b62b56b2c5}} 
+\index{vector.h@{vector.h}!vector\_mul@{vector\_mul}}
+\index{vector\_mul@{vector\_mul}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_mul()}{vector\_mul()}}
+{\footnotesize\ttfamily void vector\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+mul\+\_\+b\+\_\+vec\mbox{[}size\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the multiplication of two vectors. 
+
+Multiple vectors a\+\_\+vec and b\+\_\+vec element by element and return the result in a\+\_\+mul\+\_\+b.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to multiply. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em a\+\_\+mul\+\_\+b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 114 of file vector.\+c.
+
+
+
+Referenced by vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a8f24286db94dba6ab181edcdfe296262}\label{vector_8h_a8f24286db94dba6ab181edcdfe296262}} 
+\index{vector.h@{vector.h}!vector\_print@{vector\_print}}
+\index{vector\_print@{vector\_print}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_print()}{vector\_print()}}
+{\footnotesize\ttfamily void vector\+\_\+print (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Display the values of the vector\textquotesingle{}s elements. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector to display. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr} & pointer to the vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 255 of file vector.\+c.
+
+\mbox{\Hypertarget{vector_8h_a8ec75dc585746d950ab517e9929f31fe}\label{vector_8h_a8ec75dc585746d950ab517e9929f31fe}} 
+\index{vector.h@{vector.h}!vector\_print\_u8\_array@{vector\_print\_u8\_array}}
+\index{vector\_print\_u8\_array@{vector\_print\_u8\_array}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_print\_u8\_array()}{vector\_print\_u8\_array()}}
+{\footnotesize\ttfamily void vector\+\_\+print\+\_\+u8\+\_\+array (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{uint8\+\_\+t}]{arr\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Display the values of the vector\textquotesingle{}s elements of type uint8\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector to display. \\
+\hline
+\mbox{\texttt{ in}}  & {\em arr} & pointer to the vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 269 of file vector.\+c.
+
+\mbox{\Hypertarget{vector_8h_ae41fee7d298da0645c37ed6af7acea0b}\label{vector_8h_ae41fee7d298da0645c37ed6af7acea0b}} 
+\index{vector.h@{vector.h}!vector\_scalar\_div@{vector\_scalar\_div}}
+\index{vector\_scalar\_div@{vector\_scalar\_div}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_scalar\_div()}{vector\_scalar\_div()}}
+{\footnotesize\ttfamily void vector\+\_\+scalar\+\_\+div (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{scl }\end{DoxyParamCaption})}
+
+
+
+Compute the division of a vector with a real number. 
+
+Divide the elements of a vector with a scalar and return the result in the vector itself.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to divide with a scalar. \\
+\hline
+\mbox{\texttt{ in,out}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the source/destination vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scl} & a scalar. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 151 of file vector.\+c.
+
+\mbox{\Hypertarget{vector_8h_a3c0bdd0e463fb34757a71470c55af845}\label{vector_8h_a3c0bdd0e463fb34757a71470c55af845}} 
+\index{vector.h@{vector.h}!vector\_scalar\_mul@{vector\_scalar\_mul}}
+\index{vector\_scalar\_mul@{vector\_scalar\_mul}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_scalar\_mul()}{vector\_scalar\_mul()}}
+{\footnotesize\ttfamily void vector\+\_\+scalar\+\_\+mul (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{src\+\_\+vec\mbox{[}size\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{scl,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{dest\+\_\+vec\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the product of a vector with a real number. 
+
+Multiple the elements of a vector with a scalar and return the result in other vector.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to multiply with a scalar. \\
+\hline
+\mbox{\texttt{ in}}  & {\em src\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the source vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em scl} & a scalar. \\
+\hline
+\mbox{\texttt{ out}}  & {\em dest\+\_\+vec} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 141 of file vector.\+c.
+
+
+
+Referenced by damped\+\_\+newton\+\_\+raphson().
+
+\mbox{\Hypertarget{vector_8h_afc68fab0b07c974faf5a457d20b01c58}\label{vector_8h_afc68fab0b07c974faf5a457d20b01c58}} 
+\index{vector.h@{vector.h}!vector\_square@{vector\_square}}
+\index{vector\_square@{vector\_square}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_square()}{vector\_square()}}
+{\footnotesize\ttfamily void vector\+\_\+square (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{n,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{vec\mbox{[}n\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{square\+\_\+vec\mbox{[}n\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the square of a vector. 
+
+Square the elements of vector vec and return the result in square\+\_\+vec.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em n} & number of elements to square. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\mbox{[}$\,$\mbox{]}} & pointer to the source vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em square\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 124 of file vector.\+c.
+
+
+
+Referenced by recog\+\_\+mitigate\+\_\+multipath().
+
+\mbox{\Hypertarget{vector_8h_a3bbd999b10064c2ede2bd427aa040b63}\label{vector_8h_a3bbd999b10064c2ede2bd427aa040b63}} 
+\index{vector.h@{vector.h}!vector\_sub@{vector\_sub}}
+\index{vector\_sub@{vector\_sub}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_sub()}{vector\_sub()}}
+{\footnotesize\ttfamily void vector\+\_\+sub (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{size,  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{b\+\_\+vec\mbox{[}$\,$\mbox{]},  }\item[{\mbox{\hyperlink{vector_8h_acb41430bc5720dda7d1c45d91a0b0221}{vector\+\_\+t}}}]{a\+\_\+minus\+\_\+b\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Compute the subtraction of two vectors. 
+
+Substact b\+\_\+vec from a\+\_\+vec and return the result in a\+\_\+minus\+\_\+b.
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em size} & number of elements to subtract. \\
+\hline
+\mbox{\texttt{ in}}  & {\em a\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em b\+\_\+vec\mbox{[}$\,$\mbox{]}} & pointer to the second vector. \\
+\hline
+\mbox{\texttt{ out}}  & {\em a\+\_\+minus\+\_\+b\mbox{[}$\,$\mbox{]}} & pointer to the destination vector. \\
+\hline
+\end{DoxyParams}
+
+
+Definition at line 94 of file vector.\+c.
+
+
+
+Referenced by dist\+\_\+based\+\_\+get\+\_\+distance\+\_\+to\+\_\+anchor(), loc\+\_\+gauss\+\_\+newton(), magnetic\+\_\+based\+\_\+get\+\_\+distances\+\_\+to\+\_\+anchors(), modified\+\_\+gauss\+\_\+newton(), newton\+\_\+raphson(), recog\+\_\+mitigate\+\_\+multipath(), vector\+\_\+get\+\_\+euclidean\+\_\+distance(), vector\+\_\+get\+\_\+residual(), and vector\+\_\+test().
+
+\mbox{\Hypertarget{vector_8h_a421f989647bf55af29c0f55b7f33d35a}\label{vector_8h_a421f989647bf55af29c0f55b7f33d35a}} 
+\index{vector.h@{vector.h}!vector\_uint32\_is\_equal@{vector\_uint32\_is\_equal}}
+\index{vector\_uint32\_is\_equal@{vector\_uint32\_is\_equal}!vector.h@{vector.h}}
+\doxysubsubsection{\texorpdfstring{vector\_uint32\_is\_equal()}{vector\_uint32\_is\_equal()}}
+{\footnotesize\ttfamily bool vector\+\_\+uint32\+\_\+is\+\_\+equal (\begin{DoxyParamCaption}\item[{uint32\+\_\+t}]{length,  }\item[{uint32\+\_\+t}]{vec\+\_\+1\mbox{[}$\,$\mbox{]},  }\item[{uint32\+\_\+t}]{vec\+\_\+2\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+
+
+Determine the equality of two vectors of type uint32\+\_\+t. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\texttt{ in}}  & {\em length} & size of the vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+1\mbox{[}$\,$\mbox{]}} & pointer to the first vector. \\
+\hline
+\mbox{\texttt{ in}}  & {\em vec\+\_\+2\mbox{[}$\,$\mbox{]}} & pointer to the second vector.\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true, if the two vectors are equal. 
+
+false, if not. 
+\end{DoxyReturn}
+
+
+Definition at line 243 of file vector.\+c.
+
diff --git a/doc/doxygen/latex/vector__test_8c.tex b/doc/doxygen/latex/vector__test_8c.tex
new file mode 100644
index 0000000..9adf3e1
--- /dev/null
+++ b/doc/doxygen/latex/vector__test_8c.tex
@@ -0,0 +1,28 @@
+\hypertarget{vector__test_8c}{}\doxysection{vector\+\_\+test.\+c File Reference}
+\label{vector__test_8c}\index{vector\_test.c@{vector\_test.c}}
+
+
+Examples of vector computations.  
+
+
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$stdint.\+h$>$}\newline
+{\ttfamily \#include $<$inttypes.\+h$>$}\newline
+{\ttfamily \#include $<$math.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}vector.\+h\char`\"{}}\newline
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{vector__test_8c_ab0aed13072bc11b97766634c625d6f21}\label{vector__test_8c_ab0aed13072bc11b97766634c625d6f21}} 
+void \mbox{\hyperlink{vector__test_8c_ab0aed13072bc11b97766634c625d6f21}{vector\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of vector operations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of vector computations. 
+
+Vector computation examples of the \mbox{\hyperlink{vector_8h}{vector.\+h}} functions.
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
diff --git a/doc/doxygen/latex/vector__test_8h.tex b/doc/doxygen/latex/vector__test_8h.tex
new file mode 100644
index 0000000..9688f10
--- /dev/null
+++ b/doc/doxygen/latex/vector__test_8h.tex
@@ -0,0 +1,23 @@
+\hypertarget{vector__test_8h}{}\doxysection{vector\+\_\+test.\+h File Reference}
+\label{vector__test_8h}\index{vector\_test.h@{vector\_test.h}}
+
+
+Examples of vector computations.  
+
+
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{vector__test_8h_ab0aed13072bc11b97766634c625d6f21}\label{vector__test_8h_ab0aed13072bc11b97766634c625d6f21}} 
+void \mbox{\hyperlink{vector__test_8h_ab0aed13072bc11b97766634c625d6f21}{vector\+\_\+test}} (void)
+\begin{DoxyCompactList}\small\item\em Examples of vector operations. \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Examples of vector computations. 
+
+Vector computation examples (see \mbox{\hyperlink{vector_8h}{vector}} functions).
+
+\begin{DoxyAuthor}{Author}
+Zakaria Kasmi \href{mailto:zkasmi@inf.fu-berlin.de}{\texttt{ zkasmi@inf.\+fu-\/berlin.\+de}} 
+\end{DoxyAuthor}
-- 
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